一种仿生双足机器人系统设计

本科生毕业设计ABSTRACTABSTRACTHumanoid or bipedal robots are called bionic robots.Today's biped robot is an extremelyautomatic intelligent robot,which has flexible joints,complex control system and mechanicalstructure,and can solve the human's incompletble actions and fine operations.As animportant branch of robot research,bionic bipedal robot has always been one of the hot spotsat home and abroad,with high commercial value,industrial value and even military value.Nowadays,with the development of science,biomimetic bipedal robot has gradually attractedthe attention of all countries in the world.As the body of the whole bipedal robot,the highestlevel mechanical system,which represents the development of science and technology in thefield of mechatronics,plays an important role in the stable operation of the bipedal robot.Inorder to realize the precise action and real-time control of biped robot,we must rely onreasonable control strategy and stable mechanical structure.According to the design requirements,this paper designs a bionic bipedal robot systembased on AVR microcontroller ATmegal28.In this project,the biped robot realizes two gaitmodes:self balance and walking in any direction in the plane.The control and motion abilityof biped robot is verified by experiments.The main content of this paper is to summarize the research status of biped robot at homeand abroad,introduce the background,main research content and significance of this paper,and the system structure of biped robot.The hardware of biped robot control system is basedon ATmegal28,which is composed of micro controller module,steering gear module andpower module.The microcontroller module mainly deals with various information and data,and coordinates all functional modules in the system to complete the predetermined tasks;thedriver module is mainly responsible for controlling and driving the steering gear and sensorsto achieve the robot's action and sensor data collection;the power module is responsible forthe power supply of the whole mobile robot.On the basis of the hardware platform,accordingto the bionics method,the motion database of biped robot is established,and then the optimaltrajectory is obtained through the optimal design.Then the motion control software isdesigned.According to the data,the motion control program suitable for biped robot isdesigned,and the motion control accuracy is achieved.Keywords:Bionic biped robot singlechip Steering engine mechanical system