双足步行机器人嵌入式控制系统设计分析  

Design and Analysis of Embedded Control System for Bipedal Walking Robot

作　　者：闵方辰 MIN Fangchen

机构地区：[1]国网武汉供电公司变电检修分公司,武汉430050

出　　处：《科技创新与应用》2024年第32期19-22,共4页Technology Innovation and Application

摘　　要：双足步行机器人因其仿人类运动方式和优良的适应性,近年来成为机器人研究的热点。该文设计并实现一种基于嵌入式系统的双足步行机器人实时控制系统。通过引入滑模控制算法和自适应平衡模块,实现对机器人在不同环境下的稳定控制。实验结果表明,所设计的控制系统在跟踪领导者状态和同步控制左右两足运动方面表现出卓越的实时性和稳定性。该文的研究为双足步行机器人的智能化控制提供新的思路和方法。Biped walking robots have become a research hotspot in robotics in recent years due to their human-like movement and excellent adaptability.This paper designs and implements a real-time control system for biped walking robots based on embedded systems.By introducing a sliding mode control algorithm and adaptive balance module,stable control of the robot in different environments is achieved.Experimental results show that the designed control system exhibits excellent real-time performance and stability in tracking the leader's state and synchronously controlling the movements of both legs.This research provides new ideas and methods for the intelligent control of biped walking robots.

关 键 词：双足步行机器人 嵌入式系统 实时控制 滑模控制 自适应平衡 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]