A New Design of Three-Legged Robot of Mechanical and Control System
A new type of three-legged robot design scheme is proposed and the movement control of it is studied in this paper.Spatial crank rocker mechanism (RSSR) is used to will the motor rotation into a leg swinging in mechanical design.Advanced reduced instruction-set computer machines (ARM) chip,wireless communication module and magnetic encoder are used in controller design.Proportional and differential (PD) closed loop control arithmetic is used to realize the control of the robot.The robot realizes the movement of straight walk,curve walk,turning in situ,jumping and so on.It has a broad application prospect.
three legged robot motion control wireless remote control
Cui Haotian Yang Wang Li Qingqing Yu yueqing Ma Lizheng Wang Yumo
Beijing University of Technology Beijing, China
国际会议
太原
英文
508-511
2013-04-06（万方平台首次上网日期，不代表论文的发表时间）