双足步行机器人设计

Design of the Biped Walking Robot

随着机器人技术的发展和控制理论的逐步成熟,对双足机器人的稳定性问题、双足机器人步行移动及其各种仿人动作的研究正受到国际学者们越来越多的普遍关注。为了实现机器人的稳定行走,采用了180°数字舵机,且具有强大处理能力的微控制芯片STM32F103C8T6,完成了步行机器人自主行走所需的硬件设计;采用U型梁、多功能支架等组成了6自由度结构完成小车的机械结构设计,结构设计精简,便于安装调试;实现了步行机器人的稳定、精确行走的功能。试验结果表明,该步行机器人能够实现稳定、精确行走,远程控制的功能,且性能优越,应用前景广泛。

With the development of robot technology, researches on the stability and the walking movement of biped robot and its various humanoid actions are being paid more attention by international scholars. In order to achieve stable walking of the robot, the 180 degree digital rudder controller with the micro-control chip STM32F103CST6 which has strong processing power is adopted to complete the hardware design which is required for the autonomous walking of the biped walking robot ; the 6 deee of freedom structure is composed of the U-beam, multi-functional support, etc. , and thus to complete the mechanical structure design of the car, which has streamlined structural design, and is easy to install and debug. The experimental resuhs show that the walking robot can realize the function of stable, accurate walking and remote control, and has excellent perforua- ance and wide application prospect.