基于STM32的双足机器人控制系统的研究

摘要

The hardware of the robot control system is mainly composed of STM32 main control unit, communication unit, memory unit and power unit. The software of the host computer is written by LabVIEW, which achieves good human-computer interaction. Finally, it is verified by Matlab simula tion. The results of simulation and experiment show that the joint motion of the robot is stable, and it can complete the actions of upright, walking, lying down, rolling and rotating in situ, which can better solve the link age control of multiple steering motors.%该文双足机器人控制系统的硬件主要由STM32主控单元、通信单元、存储单元和电源单元等组成;机器人采用LabVIEW编写了上位机软件, 实现了良好的人机交互;最后在Matlab仿真验证.仿真和实验结果表明, 机器人的关节运动平稳, 可以完成直立、卧倒、前进、后退、左转、右转和翻跟头等动作, 较好地解决了多路舵机联动控制.