摘要
结合目前仿生爬壁机器人步态控制存在的不足,提出了一种基于四足对角启动的爬行机器人的控制方法和完整的控制系统,并在实验环境下得以实现。该控制系统以C8051F021为核心控制器,结合一种均匀量变输出的设计方法,驱动舵机以实现机器人爬行。用MATLAB软件进行建模仿真,在实验环境下验证该方法的可行性和有效性。
Combining with some inadequacy of gait control of the bionic wall-climbing robot,a method of creeping robot based on four-foot diagonal start-upping control and a complete control system which is carried out in the laboratory environment is proposed in this paper.The system which is based on core controller,C8051F021,combining with a method of even quantitative output,drives the servos to make the robot crawl.After the modeling and simulation by MATLAB,the result shows the feasibility and validity of the method.
出处
《仪表技术》
2011年第2期48-51,共4页
Instrumentation Technology
基金
中科院合肥物质院知识创新工程青年人才基金项目(0823A13121)
