仿生智能代写机器人设计  

Bionic Intelligent Ghostwriting Robot Design

作　　者：李欣雪 龙小丽 关健 Li Xinxue;Long Xiaoli;Guan Jian(Guangdong Institute of Technology,Zhaoqing Guangdong 526000)

机构地区：[1]广东理工学院,广东肇庆526000

出　　处：《现代工业经济和信息化》2022年第10期29-30,69,共3页Modern Industrial Economy and Informationization

基　　金：2022年广东理工学院科技项目(项目编号:GKJ2022006);广东省普通高校青年创新人才类项目(项目编号:2021KQNCX127)。

摘　　要：针对仿生足类机器人的工作原理进行研究,提出智能代写机器人设计,主要研究机器人保持重心稳定的前提下,实现智能代写。通过进行步态研究,以三角步态的方式,充分发挥多足机器人用点接触的优势。以STM32单片机为控制核心,实现可变的PWM波,以驱动舵机角度的改变,实现舵机之间的协调控制,并且18个关节上的舵机都是独立控制,实现了较大的自由度调节。结合摄像头数据的读取模块进行行间测距,实现对智能代写机器人的实时控制和双向通讯。The working principle of the bionic footed robot is studied,and the intelligent ghostwriting robot design is proposed,which focuses on the premise that the robot maintains a stable centre of gravity to achieve intelligent ghostwriting.By conducting a gait study,the triangular gait is used to give full play to the advantages of a multi-legged robot with point contact.The STM32 microcontroller is used as the control core to realise variable PWM waves to drive the change of rudder angle and to achieve coordinated control between the rudders,and the rudders on each of the 18 joints are independently controlled to achieve a large degree of freedom adjustment.Combined with the camera data reading module for inter-row ranging,real-time control and two-way communication of the intelligent ghostwriting robot is achieved.

关 键 词：智能代写 机器人 STM32 PWM波 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]