可轮式运动的小型双足机器人控制系统设计

摘要

设计了一种可轮式运动的小型双足机器人控制系统.以单片机为核心控制器,采用舵机驱动关节完成足式运动,采用直流电机驱动车轮完成轮式运动.HMR3000作为传感器进行姿态角检测,辅助机器人完成各种运动.分析了其足式运动、 轮式运动和轮足互换的过程并进行了实验验证.结果表明,控制系统为机器人提供了很好的运动控制平台,满足机器人的控制要求.%The control system of a small biped robot with wheeled movement is designed. Single chip microcomputer is used as the core controller, the servo motor is used to complete the wheeled movement, and the motor is used to complete the foot movement. HMR3000, which is a sensor for attitude angle detection assists the robot to complete the movement. The process of the foot movement, wheeled movement and wheel foot deformation is analyzed and the experimental verification is carried out. The result shows that the control system provides a very good motion control platform for robot and reaches the robot control requirements.