摘要
四足机器人是模仿动物的运动机理,实现不同环境下的适应性行走。电机驱动相比液压或气压驱动,有能量传递方便,信号传递迅速,标准程度高的优点,成为机器人驱动的主流选择。针对四足机器人多自由度运动的特点,提出了一种舵机驱动控制机器人实现所规划的行走步态的有效方法。即采用模块化设计了舵机驱动四足机器人,其中包括控制系统软硬件的设计、传感器的应用以及机器人的步态规划。实验证明此种方法能实现良好的行走稳定性。
Quadruped robots are imitating animals＇ mechanisms; realize the adaptability of walking in different environments. Motor drive have advantages of energy transfer convenient, signal transform quickly, high level standard, than hydraulic or pneumatic drive, become the mainstream of driver. Due to more freedom movement characteristics of quadruped robot, this paper puts forward a effective method of a kind of servo drive controls the robot to achieve planned walking gait. The modular design the servo-driven quadruped robot, including software and hardware design of control system, the application of sensor and robot＇s gait planning. Experiment proves this method can achieve good stability of walking.
出处
《机械》
2011年第2期66-69,共4页
Machinery
