基于AVR和STM32的仿生六足机器人控制系统-计算机系统应用.PDFVIP

2016 年 第 25 卷 第 6 期 计 算 机 系 统 应 用 ① 基于AVR 和 STM32 的仿生六足机器人控制系统 1 1 2 1 3 韩宝玲 , 刘广新 , 罗庆生 , 黄祥斌 , 张述玉 1(北京理工大学 机械与车辆学院, 北京 100081) 2(北京理工大学 机电学院, 北京 100081) 3(北京理工大学 光电学院, 北京 100081) 摘 要: 本文设计了一种以 Arduino 为开发平台的控制系统, 该控制系统以 ATmega328P 为主机控制芯片, 以 STM32F103C8T6 为从机控制芯片, 并通过串口方式实现通信, 集两款控制芯片的优势于一体. 本文主要介绍了 控制系统的硬件组成和软件算法. 经过实物试验, 仿生六足机器人可以实现姿态自动调整、稳定行走以及自主避 障. 本研究内容可为相关领域研究工作提供参考与借鉴. 关键词: 仿生六足机器人; Arduino; ATmega328P; STM32F103C8T6 Control System Design of the Six Legged Robot Based on AVR and STM32 1 1 2 1 3 HAN Bao-Ling , LIU Guang-Xin , LUO Qing-Sheng , HUANG Xiang-Bin , ZHANG Shu-Yu 1(School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China) 2(School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China) 3(School of Optoelectronics, Beijing Institute of Technology, Beijing 100081, China) Abstract: In this paper, a control system based on Arduino is designed. The control system takes ATmega328P as the master control chip, STM32F103C8T6 as the slave computer control chip, and the communication is realized through the serial port mode. The advantages of the two control chips are integrated. This paper introduces the design scheme of the control system from two aspects: hardware and software. The real experiments demonstrateed the bionic six legged robot can achieve automatic posture adjustment ability, stable walking, and reliable obstacle avoidance ability. The content of this article can provide reference for the research work in the relevant fields. Key words: six legged robot; Arduino; ATmega328P; STM32F103C8T6