基于STM32的四足仿生机器人设计与实验研究  

Design and Experimental Research on Quadruped Bionic Robot Based on STM32

作　　者：梁美彦 LIANG Meiyan(Dept.of Electronics and Information Engineering,Shanxi University,Taiyuan 030013,China)

机构地区：[1]山西大学电子信息工程系,山西太原030013

出　　处：《测试技术学报》2019年第1期34-42,共9页Journal of Test and Measurement Technology

摘　　要：抗震救灾、资源开发、特殊环境执行任务都需要无线控制的智能机器人.本文设计了一种基于STM32的四足仿生机器人,通过拉格朗日动力学建模,建立了各关节转角与腿部杆件运动的数学关系;在数学建模的基础上,再根据仿生机器人的运动学特征对行走步态进行规划,使机器人稳定步行的同时,提高了系统运动的协调性,实现了动作的精确控制.实验结果表明:该机器人通过无线控制已经实现了稳定步行、转弯、扭转、抬前臂、游泳、俯卧-起身等动作姿态.Earthquake rescue,resource development and special environment implementation all require wireless control of the intelligent robot.Thus,the quadruped bionic robot based on STM32 is designed in the paper.The mathematical relationship between the joint angle and the motion state of the leg member was established using Lagrangian dynamic modeling.Then,the gait of the robot prototype was planned according to the kinematical characteristics of bionic robot system based on the modelling,which ensured the motion stability,improved the action accuracy and walking coordination.The result showed that a series of movement patterns have realized through wireless control.The movement patterns include stable walking,turning,torsion,lifting arm,swimming,and push-ups.

关 键 词：四足步行机器人 无线控制 步态仿生 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]