摘要
设计了一种结构简单、自由度少、行走灵活的小型双足机器人,并用电子罗盘HMC5883对机器人的行走路径进行实时反馈与校正,深入研究了机器人的运动控制。设计的机器人主要靠腰部转动带动前行,以保持行走的稳定性;增加双足之间的距离以加大步幅,增加舵机转速以提高机器人的运动速度。
Designs the small biped robot with simple structure, less degree of freedom and walking flexibility, which makes deep research about the robot＇ s kinetic control by adding the electronic compass HMC5883 to correct the robot moving path by the feedback. The robot moving forward mainly depends on the waist turning, which makes the walking stable. The increasing of the distance between two pedals makes the stride bigger; and the speeding-up of the steering gear makes the robot moving quicker.
出处
《煤矿机电》
2013年第5期5-8,共4页
Colliery Mechanical & Electrical Technology
关键词
双足机器人
舵机
电子罗盘
biped robot
steering gear
electronic compass
