基于STM32F4的12自由度四足机器人设计与实现

Design and Implementation of 12 Dof Quadruped Robot Based on STM32F4

设计并实现了一种基于STM32F4的12自由度四足机器人,运用3D打印技术实现机械制作,对运动轨迹进行运动学分析,利用对角小跑步态对四足机器人进行步态算法规划。详细介绍了四足机器人的机械部分、电路部分和软件部分的设计与实现。实验测试结果表明,设计的四足机器人结构稳定、性能较好,更适用于复杂和危险的环境。

In this parper,a twelve-degree-of-freedom quadruped robot based on STM32F4 is designed and implemented,and the mechanical production is realized by using 3D printing technology.Kinematics analysis is conducted on the movement trajectory,and gait algorithm planning is carried out on the quadruped robot by using diagonal trot gait.In this paper,the design and realization of the mechanical part,the circuit part and the software part of the four groups of robots are introduced in detail.Experimental results show that the quadruped robot designed in this paper has stable structure and good performance,and is more suitable for complex and dangerous environments.