智能双足机器人的设计.pdfVIP

Abstract Robot technology is electronic, mechanical, artificial intelligence and other fields of new techniques, the humanoid robot research robots as a branch of the study, no doubt on the robot technology and ideas put forward higher requirements. It should have the ability to mechanics and mechanics presents a challenge, its control highly flexible requirements of the modern control theory to find the real play, biped walking robot has a humanoid shape and walk way, extensive social applications and multidisciplinary integration and so on, is in robot research a hot area. This paper uses the ARM Cortex-M3 core of STM32 series processor as the controller design of a 17 DOF intelligent biped robot. Robot height is about 40CM (standing when the leg is bent state ), width is 23CM, with 17 degrees of freedom. Among them, the head 1 degrees of freedom, arm with 4 degrees of freedom, the 2 degrees of freedom, the 2 degrees of freedom, the leg in 6 degrees of freedom, the foot 2 degrees of freedom. The robot uses a large torque metal gear steering gear MG995. The design and implementation of a biped robot to stop, forward, back, turn, squat movements. Robot behavior control wireless control and advanced speech recognition control technique. The design of robot equipped with voice function, with the speech recognition module combination, can realize the simple communication of human and robot. Wireless remote control using remote control through NRF2401 RF module and assembly robot NRF2401 module for two-way communication, to achieve remote control robot behavior. Speech recognition technology uses a voice recognition module, can identify a plurality of voice command, can be in the field of robot voice command control. Design and application of the advanced control theory, can realize the accurate control of the robot each action. The design is particularly suitable as a teaching robot and shop