Design of a biped walking robot based on Cortex-M3

摘要

Research on robot control and related technology of biped walking has important theoretical value in the field of robot research. Comparing the advantages and disadvantages of existing robot control and walking schemes, this paper designs and implements a biped walking robot under the control of Cortex-M3. By studying and emulating human walking gait, we designed a robot which can walk in the way that matches all the predefined action modes. The robot uses Cortex-M3 811 MCU as the core control, the servo controller as auxiliary control. The servo controller generates multiple PWM waves to drive the servo. With repeatedly adjusting and modification, the performance of the biped walking robot can satisfy all the design requirements.