基于Arduino的仿生六足机器人双形态设计

Double shape design of bionic hexapod robot based on Arduino

笔者以蜘蛛为仿生原型采用Arduino和20路舵机为主控板,用手柄或手机连上WIFI模块或蓝牙模块,控制完成多种仿生动作的六足机器人。六足机器人用舵机云台控制openMV摄像头采集识别分析图像,并模仿动物进行移动,用超声波模块自动躲避障碍物,用声音模块检测声音做出防备动作,用寻光模块向光源移动追捕。团队成员同时探索出两种形态自由切换的双形态融合设计,实现在崎岖的路上运用“足”移动,在比较平坦的路上收缩关节运用电机快速移动、灵活转向,让机器人达到运动更平稳,适应能力更强,实用价值更高。

The author takes the spider as the bionic prototype,USES the Arduino and the 20-way steering gear as the main control board,connects the WIFI module or bluetooth module with the handle or mobile phone,and controls the hexapod robot which completes various bionic actions.Hexapod robot USES the helmsman to control the openMV camera to collect recognition and analysis images,and simulates the movement of animals.The ultrasonic module is used to automatically avoid obstacles,the sound module is used to detect sounds and make defensive actions,and the light seeker module is used to move and chase the light source.At the same time,the team members explored the dual-form fusion design of free switching between the two forms,so as to realize the use of"foot"movement on the rough road,and the use of motor for fast movement and flexible steering on the relatively flat road to make the robot move more smoothly,with stronger adaptability and higher practical value.