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1、［摘要］仿生機(jī)器人是依據(jù)仿生學(xué)原理，模仿生物結(jié)構(gòu)、運(yùn)動特性等設(shè)計性能優(yōu)越的機(jī)電系統(tǒng)，已逐漸在反恐防爆、太空探索、搶險救災(zāi)等復(fù)雜任務(wù)環(huán)境中突顯出良好的應(yīng)用前景。目前國內(nèi)外有關(guān)機(jī)器人控制系統(tǒng)存在問題在于設(shè)計中通常用AVR系列微控制器,DSP系列控制器等對機(jī)器人系統(tǒng)進(jìn)行控制。由于四足機(jī)器人需要在地面穩(wěn)定運(yùn)動，而且對周圍環(huán)境有很強(qiáng)的適應(yīng)性，不僅需要實時采集其運(yùn)動過程中的姿態(tài)并且對其做出相應(yīng)的調(diào)整，且需要實時感知足端受到的地面沖擊力然后對其控制，而STM32完全滿足四足機(jī)器人運(yùn)動控制系統(tǒng)的要求。因此，設(shè)計了以其為核心的四足機(jī)器人控制系統(tǒng)，并具體地闡述了它的整體設(shè)計方案、軟件
2、設(shè)計與硬件設(shè)計，最后通過仿真結(jié)果證明該設(shè)計能夠?qū)崿F(xiàn)精確、實時控制四足仿生機(jī)器人。［關(guān)鍵詞］仿生機(jī)器人；運(yùn)動控制系統(tǒng)；控制器；STM32；中圖分類號：TM771文獻(xiàn)標(biāo)識碼：A文章編號：1009-914X(2017)12-0251-02DesignandResearchofJointMotionControllerforFour?leggedBionicRobotMAPeng-bo(SchoolofInformationEngineering,HenanInstituteofTechnology,Xinxiang453000,China)[Abstract]Bioni
3、crobotisbasedontheprincipleofbionics,imitationofbiologicalstructure,sportscharacteristicsandotherdesignperformaneeofthemechanicalandelectricalsystem,hasgraduallyintheanti?teirorismexplosion,spaceexploration,disasterreliefandothercomplexmissionenvironmenthighlightsagoodapplicationprosp
4、ects.Atpresent,theproblemathomeandabroadisthatthedesignoftheAVRseriesofmicrocontrollers,DSPseriescontrollerisdifficulttocontrolthesmallrobotsystem.Becausethequadrupedrobotneedstobestableonthegroundandhasastrongadaptabilitytothesurroundingenvironment,ithasahigherdemandforthevolumeandwe
5、ightofthecontrolsystem,andneedstoacquiretheattitudeofthefourstepsinrealtimeandmakeitThecorrespondingadjustment,andtheneed(SchoolofInformationEngineering,HenanInstituteofTechnology,Xinxiang453000,China)[Abstract]Bionicrobotisbasedontheprincipleofbionics,imitationofbiologicalstructure,s
6、portscharacteristicsandotherdesignperformaneeofthemechanicalandelectricalsystem,hasgraduallyintheanti?teirorismexplosion,spaceexploration,disasterreliefandothercomplexmissionenvironmenthighlightsagoodapplicationprospects.Atpresent,theproblemathomeandabroadisthatthedesignoftheAVRseries
7、ofmicrocontrollers,DSPseriescontrollerisdifficulttocontrolthesmallrobotsystem.Becausethequadrupedrobotneedstobestableonthegroundandhasastrongadaptabilitytothesurroundingenvironment,ithasahigherdemandforthevolumeandweightofthecontrolsystem,andneedstoacquiretheattitudeofthefourstepsinre
8、altim
