Embedded Control System Design and Experimental Analysis of Bionic Quadruped Robot
The research object of this paper is a small bionic quadruped robot with four degrees of freedom per leg.This robot uses embedded chip called Stm32f103vct6 as the core for its hardware of control system.By the control system,the data packets of gait are sent to digital servos on every joint in a half-duplex communication mode to control rotation angles of servos,so we can control the stable motion of the quadruped robot precisely.Experimental results showed that: during walking the roll angle,pitch angle and yaw angle(RPY angle)of robot body changed lightly,the movement was relatively stable.It validated the design of embedded control system can control the quadruped robot precisely to achieve stable quadruped walking.The small embedded control system has some advantages such as fast processing speed,peripheral scalability and strong storage capacity,so it meets the requirement of intelligent algorithms,low power movement for a bionic quadruped robot.
bionic quadruped robot Stm32f103vct6 embedded control system
Wang peng Yu zhiwei Zhou cheng Dai zhendong
Institute of Bio-inspired Structure and Surface Engineering,Nanjing University of Aeronautics and As Institute of Bio-inspired Structure and Surface Engineering,Nanjing University of Aeronautics and As Huawei Technologies Co Ltd,Nanjing 210012,China
国际会议
长沙
英文
4187-4191
2014-05-31（万方平台首次上网日期，不代表论文的发表时间）