教案：双足步行机器人毕业论文doc版.docxVIP

. PAGE PAGE 31 . —－可编辑修改，可打印—— 别找了你想要的都有！ 精品教育资料 ——全册教案，，试卷，教学课件，教学设计等一站式服务—— 全力满足教学需求，真实规划教学环节 最新全面教学资源，打造完美教学模式 双足步行机器人毕业论文 双足步行机器人毕业论文 交叉足印竞步机器人行走步态实现 I 双足步行机器人毕业论文 摘 要 机器人技术代表了机电一体化的最高成就，是二十世纪人类最伟大的成果之 一，其中双足步行机器人因其体积相对较小，对非结构性环境具有较好的适应性， 避障能力强，移动盲区很小等优良的品质，越来越受到人们的关注，因此对其控 制研究和步态规划具有相当的现实意义。 本文的主要介绍了双足竞步机器人的国内外发展情况， 以及 PWM 指令算法和 舵机的联动控制，通过认真的研究人类行走方式以及翻跟斗的动作，对机器人的 行走步态进行简单的规划，设计出简化结构模型，然后以此为基础进行了适当的 调整，设计出符合交叉足竞步机器人比赛要求的全部动作程序，设计完成后将程 序下载到实验样机中，验证程序设计的可行性和合理性，通过反复的修改和验证 使得机器人能顺利的完成比赛任务。 关键词 ：双足步行机器人 步态规划 PWM 控制 II 双足步行机器人毕业论文 ABSTRACT Robotic technology represents the electromechanical integration the greatest achievement of the 20th century, is one of the great achievement of human beings, the biped robot robot even though only the history of nearly 40 years, but because of its unique adaptability and human nature, became the robot to an important developing direction of field.Topics which aims to design a bipedal humanoid robot platform, based on the bipedal robot, walking gait for better finish tasks matting. Because of multi-joint robot has feet, drive and multisensor characteristics, and generally have redundant freedom, these features to its control problem has brought great difficulty, but also for various control and optimization method provides an ideal experimental platform, make its attracted many scholars eyes, become a blockbuster research direction, and so the biped robot gait planning and control study not only has high academic value, but also has quite practical significance.Based on the study of human walking style process and simplify the process after walking with a simplified model, to realize the steering gear PWM robot is effectively controlled. The paper mainly discussed the dynamic walking planning, design and simulation, detailed research using PWM control technology to achieve the linkage of the steering gear control more than. Keywords： Biped robot Gait planning PWM control III 双足步行机器人毕业论文 目录 摘 要 I.I...