仿生四足机器人控制系统设计

摘要

针对某仿生四足机器人的运动特点和功能要求,采用多个微控制器组建了一种结合了分层式控制系统和分布式控制系统优势的复合式控制系统.设计了以决策控制器、步态生成器和执行驱动器构成的三层式硬件系统及相应的外设接口,并采用模块化的设计思想开发了相应的系统软件.从而构成了一套体积小、功耗低、集成度高、实时性好的硬件控制系统平台.在该控制系统中,通信模块应用双口RAM技术及CAN总线网络实现各层之间实时有效的信息传递.最后,分别进行了CAN总线通信测试实验和电机控制性能测试实验.实验结果表明,该控制系统工作性能稳定、信息读取可靠、动态响应快捷,能够很好地满足仿生四足机器人的运动控制要求.%A ccording to the movement features and functionality requirements of a bionic quadruped robot, a compound control system was founded based on multi-microcontroller, which combined the advantages of layered control system and distributed control system. The hardware system which consists of decision controller, gait generator and driver controller and the related peripheral interface was designed, and the related software system was developed under the modularized design idea Thus, the platform of the hardware control system with small volume, low-loss power, high integration and good realtime was formed.In the control system, dual-port RAM and CAN bus net was adopted to realize the information transmission in real-time between different level. At last, CAN bus communication test and motor control performance experiment were carried out. Experimental results verify that the control system has stable working performance, reliable information reading and fast dynamic response, and it can satisfy the motion control requirements of the bionic quadruped robot well.