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双足机器人的步行方式是步行方式中自动化程度最高、最为复杂的动态系统。根据中国机器人大赛“双足竞步机器人”项目的要求,设计一台能够自主运行的仿人类双足机器人。首先,采用基于ZMP的步态规划算法对机器人的步行轨迹进行预判;其次,为了保证机器人行走的稳定性及外形美观,采用Solid Works三维零件制图软件进行机器人连接件的设计与组装;最后,采用具有IAP功能的32位单片机STM32F103C8T6为控制器,以实现机器人系统的无线控制及远程操作;采用六路SR403P模拟舵机,使机器人能够实现具有一定速度、节奏和稳定性的步行功能。
The biped robot walk is the most automated and complex dynamic system in walking mode. According to the requirements of China Robot Contest “Bipedal Robot ”, we designed a humanoid biped robot capable of autonomous operation. Firstly, the gait planning algorithm based on ZMP is used to predict the walking trajectory of the robot. Secondly, in order to ensure the stability and aesthetic appearance of the robot, Solid Works 3D parts mapping software is used to design and assemble the robotic joints. Finally, The 32-bit microcomputer STM32F103C8T6 with IAP function is used as a controller to realize the wireless control and remote operation of the robot system. The six-way SR403P analog servo is adopted to enable the robot to walk with certain speed, rhythm and stability.