双足竞步机器人控制系统的研究和设计.pdf

ABSTRACT ABSTRACT AABBSSTTRRAACCTT The main purpose of this paper is to research the gait planning and movement control of biped walking robot, which rely on the control system of AX-12+ digital servo as the driving element.The work of the paper includes three aspects.The first aspect is hardware design and realization of the biped walking robot system.The second is softeware design of the robot system. The third is kinematics modeling and gait planing of the biped walking robot system. First,this paper designed the overall framework of the bip walking robot,and used AX-12+ digital servos as joints,The robot used a cross-foot design idea and sticked positive resists on the feet plantar.The assembly mode increased the friction of the robot feet with the ground,and greatly improved sports performance and the ability to adapt the environment,and so that the robot can walk steadily. Secondly, this paper designed detailed software and hardware system to the biped walking robot.The hardware conspect used in the modular design concept,which divided into two parts of the main control board and communication board.The main control board used C8051F310 microcontroller as the main controller,which can be better conjunction with the steering gear.The software conspect used PC VC debugging software to generate biped walking robot gait array,and combined with the lower native C language programing to achieved the control of bip walking robot. Finally,in this paper, we did the gait plainning of bip walking robot.first designed the kinematic model of the robot,then obtained kinematic equations and inverse kinematics calculations whicn based on homogeneous transformation.According to the three steps gait