论文部分内容阅读
四足机器人是目前比较普遍的一种机器人,本文研究的是四足机器人的步态规划,通过模仿四足动物的步态,设计了四足机器人在静平衡状态下四足之间相互协调的步态规划,并通过用NorthSTAR图形化开发环境软件模拟四足机器人,设置并调试四足机器人舵机的角度与速度,将理论与实际结合,把设计的应用程序下载到四足机器人的控制器中,用来实现机器人运动步态的控制。最后,观察它运动时的稳定性,通过反复的调试与修改,让四足机器人在静平衡状态下能够稳定的前进、后退、左转、右转。在此基础上把四足机器人的四足步态协调组合,接上红外接近传感器,实现四足机器人的光源跟踪。
The four-legged robot is a kind of robot that is popular at present. This paper studies the gait planning of four-legged robot. By simulating the four-legged animal’s gait, the four-legged robot is designed to coordinate the four-legged quadrupeds under static equilibrium Gait planning, and through the use of NorthSTAR graphical development environment software simulation quadruped robot, quadruped robot steering gear set and debug the angle and speed, the theory and practice, the design of the application downloaded to the quadruped robot controller , Used to control the movement of the robot gait. Finally, observe the stability of its movement, through repeated debugging and modification, so that four-legged robot in the static equilibrium can be stable forward, backward, turn left and right. On this basis, the quadruped robot’s four-legged gait coordination combination, connected to the infrared proximity sensor, to achieve four-legged robot light source tracking.