毕业设计（论文）-机器爬虫运动步态策略研究汇.docVIP

摘 要 目前对于移动式机器人多采用轮式移动机构，但是在适应复杂地形时轮式机器人无法满足路况的要求，由此设计一种灵活的、行走平稳和对路况适应性强的机器人成为解决此类问题的关键。六足仿生机器人便是这种机器人的典型代表，而六足仿生机器人的步态研究对其的行走方式更是具有重要意义。 硬件控制芯片采用Parallax公司生产的Basic Stamp微控制器，利用PBASIC语言设计程序，并完成机器人运动控制程序的设计。在实现数据的正常通信后，利用计算机传输给Basic Stamp控制器，写入程序。 论文针对一个已经完成的六足仿生机器人本体，采用Basic Stamp微控制技术，研究了六足仿生机器人运动步态的控制规律，并对其进行运动规划，在其上实现控制系统。论文主要研究了六足机器人的三角步态、四足步态走法并且提出波动步态。通过斑马线步态图可以很清楚的发现其三者之间的联系和不同，从而总结出每种步态的特点并且比较每种步态的优缺点，为后面的实验过程提供了理论依据。在实验中分别在六足机器人本体上实现了基于三角步态的直线行走、、ABSTRACT Currently, the mobile robots mostly exist in the form of multi-wheel, but to adapt to the complex terrain conditions, they are often out of expectance. For the reason of this fault, designing a new kind of robot with the characteristic of flexible, stable and adaptable, so that the problem can clearly discovered and easily resolved. As a typical representative of such robots, hexapod bio-robot regularly do a good job. So it can be of great significance to research the gait of this product. The chip of hardware control system is applied by Parallax Inc. Basic Stamp microcontroller, PBASIC language is used for designing process and perfecting the robot motion. After performing the normal communication of data, the computer transmits them to Basic Stamp controller, and then imports the procedure. Under the premise of Basic Stamp microcontroller, the thesis research on the law of hexapod robot gait controlling which is based on an accomplished one. And then mapping out its movement, on which try to implement the controlling system. The focus of this paper is to relate tripod gait,four-leg gait of hexapod robots and put forward fluctuations gait. Through the crossing gait diagram, the links and different among the three units can be clearly bring to light, accordingly, and summarize the characteristics of each type of gait and compare the advantages and disadvantages of them what can reference the following experiments. These experiments realize the straight-line walking based on tripod gait and four-legged gai