本文根据项目规划和控制任务要求,从机构的设计目标出发,按照从总体到部分,由主到次的原则,设计了作实验用的小型双足步行机器人的机构及其硬件控制电路,实现了用CPLD产生PWM波同时控制12路舵机的驱动。 According to the requirements of the project planning and control tasks, starting from the design goals of the organization, according to the principle of “master to subordinate” from the whole to the part, this paper designed the mechanism and hardware control circuit of small biped walking robots for experiment, Generate PWM wave with CPLD and control the drive of 12-way servo at the same time.