摘要
根据人体的形态特征和仿生学原理,设计接近于人体尺寸比例的机器人结构,并应用自由度最少的原则设计了符合机器人功能要求的自由度配置方案,设计了一个舵机的驱动器,可以与上位机进行通信,实现对人形机器人的控制,该驱动器可以把上位机发送的指令转换成控制舵机的信号。实验证明:人形机器人能够完成相应的动作,实现机器人的舞蹈演示。
The paper presents the design process of the mini-type humanoid robot. According to the human morphological characteristics and the principle of bionics, the robot structure close to the proportion of human body size is designed. And the DOF （Degree of Freedom） configuration scheme in accordance with functional requirements of the robot is designed based on the principle of least DOF. A driver of steering engine is designed to cooperate with the host computer in order to control the humanoid robot, and it can transform the commands transmitted by the host computer into signals controlling the steering engine. Experiment results show that the humanoid robot can complete the corresponding action and realize the robot＇ s dancing demonstration.
出处
《天津职业技术师范大学学报》
2014年第1期21-24,共4页
Journal of Tianjin University of Technology and Education
基金
天津职业技术师范大学科研发展基金项目(KYQD10004)
关键词
人形机器人
舵机
AVR
humanoid robot
steering engine
AVR
