摘要
阐述了教学用步行机器人的自由度选择及步态规划,分析了六自由度双足机器人行走规律,用CAXA软件画出自由度分部图,运用三点规划法确定了摆动腿踝关节、髋关节的3个步态姿态点,配合多项式插值法确定踝关节运动。选择32路舵机控制器为主控板,并给出直线行走程序。
The freedom degree choice and gait planning of teaching - type bipedal walking robots are stated, the walk-ing pattern of six DOF biped robots is analyzed, CAXA software is used to draw the segment graph of the degree of freedom, a three - point planning method is used to determine the three gait posture points of the swinging leg ankle joints and hip joints,and a polynomial interpolation method is adopted to determine the movement of ankle joints. A 32 - way steering servo controller is used as the main control board and straight line walking procedures are given.
出处
《林业机械与木工设备》
2017年第3期38-39,43,共3页
Forestry Machinery & Woodworking Equipment
基金
"单片机原理及应用"课程教学改革项目:哈尔滨石油学院课程改革与建设项目
黑龙江省高等教育学会"十三五"高等教育科研课题(规划课题)项目"机电类专业本科创新教育体系研究与实践"(16G446)
