双足步行机器人控制系统设计与试验  

Design and Experiment of Biped Walking Robot Control System

作　　者：李辉辉 田世锋 杨亭 李丽珠 LI Huihui;TIAN Shifeng;YANG Ting;LI Lizhu(Guangdong Open University(Guangdong Polytechnic Institute),Guangzhou 510091;Guangzhou Conghua District Vocational and Technical School,Guangzhou 510900)

机构地区：[1]广东开放大学(广东理工职业学院),广州510091 [2]广州市从化区职业技术学校,广州510900

出　　处：《现代制造技术与装备》2023年第3期40-42,共3页Modern Manufacturing Technology and Equipment

摘　　要：构建一款步行平稳、可转向的双足步行机器人。在硬件配置方面,以Arduino为控制器,采用4组稳压电路分别为系统各用电器提供合适的电压。双足踝、膝、髋6个关节各配置一个舵机,控制舵机旋转便可带动关节前后自由弯曲。在控制策略方面,遵循人类步行动作生物力学原理,机器人各关节协同转动,可模仿人类双足直立行走和转向。This paper aims to build a bipedal walking robot with stable walking and steering.In terms of hardware configuration,with Arduino as the controller,four groups of voltage regulator circuits are used to provide appropriate voltages for all electrical appliances in the system,and a steering gear is configured for each of the six joints such as ankle,knee and hip.By controlling the rotation of the steering gear,the joints can be driven to bend freely back and forth.In terms of control strategy,following the biomechanical principle of human walking movement,the robot joints rotate cooperatively and walk upright and turn like human feet.

关 键 词：双足步行机器人 稳压电路 控制系统 生物力学原理 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]