论文部分内容阅读
双足机器人步行对环境要求很低,能适应复杂的地理环境,例如台阶、不平整的路面、斜坡等,并且活动的盲区较小。基于此,设计了一种小型双足机器人,利用CM-510控制板BIOLOID高级版机器人专用控制器实现了对6个AX-12A舵机BIOLOID机器人伺服马达数字舵机实时控制,在CM-510控制板BIOLOID控制器独特的编程控制环境,通过串口下载器BSC-10对双足机器人进行编程调试,利用人体仿生学调试出机器人步态规划。实现机器人稳定向前行走、立正、卧下、向前翻跟、向后翻跟头,具有5个自由度。
Bipedal robots have very low environmental requirements for walking and can adapt to complex geographies such as steps, uneven pavements, slopes and the like, and the blind spots for activities are small. Based on this, a small biped robot has been designed to realize the real-time control of the BIOLOID robot servos digital servos of 6 AX-12A servos using the CM-510 BIOLOID Advanced Robot Controller. The CM-510 control Board BIOLOID controller unique programming control environment, through the serial port downloader BSC-10 biped robot programming and debugging, the use of human bionomics debug robot gait planning. Robots to achieve stable forward walking, standing, lying down, turning forward, back upwards, with 5 degrees of freedom.