基于STM32单片机控制的六足轮腿式机器人研究

Research on Six-legged Robot Control Based on STM32 Single Chip Microcomputer

本文以矩形轮腿式的六足机器人为试验机器人,以STM32单片机为主要控制核心,以舵机控制板为辅助板,利用上位机编程来编写六足机器人的动作组,通过PS2手柄发送命令到单片机,单片机控制舵机板实现相应的动作组,后期采用Arduino控制板通过传感器对环境变化的检测实现对动作组的控制,实现六足机器人的自动化移动。

The paper took the rectangular six-legged wheel-leg robot as the experimental robot, and took STM32 sin- gle chip microcomputer as the main control core , used the steering wheel control panel as auxiliary plate , used PC programming to write the action group of hexapod robot, sent commands to MCU through PS2 handle and took single chip microcomputer controls steering wheel plate to realize corresponding action group, then used arduino control board through the sensor to detect environmental changes to achieve the control of the action group, so as to realize automated mobile of six legged robots.