基于51单片机的六足机器人控制系统设计与制作

摘要

提出了基于51单片机控制的六足机器人系统，针对机器人的运动，采用三角步态方式对六足步态进行规划，设计电路和程序，使用单片机控制18路舵机的旋转角度实现行走。通过模型制作和实验，可控制机器人的行走，并且结合传感器实现了自动避障。实验表明51单片机可以对六足机器人进行控制，步态规划与程序设计合理。%The hexapod robot system based on 51 single chip control is proposed. According to the movement of the robot, triangle gait method is used to plan the six foot gait and design the circuit and program. Single chip is used to control the rotation angle of the 18 steering engines so as to realize walking. Walking of the robot can be controlled by model making and experiment and automatic obstacle avoidance can be realized with the help of the transducer. The experiment shows that 51 single chip can control the hexapod robot and the gait planning and program design is reasonable.