双足竞步机器人设计

Design of biped walking robot

双足机器人步行对环境要求很低,能适应复杂的地理环境,例如台阶、不平整的路面、斜坡等,并且活动的盲区较小。基于此,设计了一种小型双足机器人,利用CM-510控制板BIOLOID高级版机器人专用控制器实现了对6个AX-12A舵机BIOLOID机器人伺服马达数字舵机实时控制,在CM-510控制板BIOLOID控制器独特的编程控制环境,通过串口下载器BSC-10对双足机器人进行编程调试,利用人体仿生学调试出机器人步态规划。实现机器人稳定向前行走、立正、卧下、向前翻跟、向后翻跟头,具有5个自由度。

Biped robot walking is very low requirements for the environment,can adapt to the complex geographical environment, such as steps, uneven pavement, slope and so on, and the activity of the blind area is small.Based on this,A small biped robot is designed,Using the CM-510 control board BIOLOID advanced version of the robot controller to achieve the 6 AX-12 A servo motor BIOLOID robot servo motor digital servo control,Unique programming control environment in CM-510 control board BIOLOID controller,through the serial port to download BSC-10 to debug the biped robot, using bionics debug robot gait planning.The robot steady walk, stand, lie down, forward, backward and turning somersaults, has 5 degrees of freedom.