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双足步行机器人毕业论文双足步行机器人毕业论文交叉足印竞步机器人行走步态实现I双足步行机器人毕业论文摘要机器人技术代表了机电一体化的最高成就，是二十世纪人类最伟大的成果之一，其中双足步行机器人因其体积相对较小，对非结构性环境具有较好的适应性，避障能力强，移动盲区很小等优良的品质，越来越受到人们的关注，因此对其控制研究和步态规划具有相当的现实意义。本文的主要介绍了双足竞步机器人的国内外发展情况，以及PWM指令算法和舵机的联动控制，通过认真的研究人类行走方式以及翻跟斗的动作，对机器人的行走步态进行简单的规划，设计出简化结构模型，然后以此为基础进行了适当的调整，设计出符合交叉足竞步机器人比赛要求的全部动作程序，设计完成后将程序下载到实验样机中，验证程序设计的可行性和合理性，通过反复的修改和验证使得机器人能顺利的完成比赛任务。关键词：双足步行机器人步态规划PWM控制II双足步行机器人毕业论文ABSTRACTRobotictechnologyrepresentstheelectromechanicalintegrationthegreatestachievementofthe20thcentury,isoneofthegreatachievementofhumanbeings,thebipedrobotroboteventhoughonlythehistoryofnearly40years,butbecauseofitsuniqueadaptabilityandhumannature,becametherobottoanimportantdevelopingdirectionoffield.Topicswhichaimstodesignabipedalhumanoidrobotplatform,basedonthebipedalrobot,walkinggaitforbetterfinishtasksmatting.Becauseofmulti-jointrobothasfeet,driveandmultisensorcharacteristics,andgenerallyhaveredundantfreedom,thesefeaturestoitscontrolproblemhasbroughtgreatdifficulty,butalsoforvariouscontrolandoptimizationmethodprovidesanidealexperimentalplatform,makeitsattractedmanyscholarseyes,becomeablockbusterresearchdirection,andsothebipedrobotgaitplanningandcontrolstudynotonlyhashighacademicvalue,butalsohasquitepracticalsignificance.Basedonthestudyofhumanwalkingstyleprocessandsimplifytheprocessafterwalkingwithasimplifiedmodel,torealizethesteeringgearPWMrobotiseffectivelycontrolled.Thepapermainlydiscussedthedynamicwalkingplanning,designandsimulation,detailedresearchusingPWMcontroltechnologytoachievethelinkageofthesteeringgearcontrolmorethan.Keywords：BipedrobotGaitplanningPWMcontrolIII双足步行机器人毕业论文目录摘要..........................................................................................................................I.I...ABSTRACT...................................................................................................................III目录................................................................................................................................IV1绪论.............................................................................................................................11.1引言.............................................................................................................................11.2双足机器人的研究概况...............................................................................................11.2.2国内研究概况.......................................................................................................41.3双足步行机器人的步行特点及研究意义.....................................................................51.4本文研究内容及主要工作...........................................................................................61.5试验样机的介绍..........................................................................................................62舵机联动单周期指令算法研究.....................................................................................82.1舵机PWM信号介绍.................................................................................................82．2单舵机拖动及调速算法...........................................................................................82.3算法分析.....................................................................................................................92.46路PWM信号发生算法解析..............................................................................103交叉足机器人行走步态设计........................................................................................123.1步态规划基本原则....................................................................................................123.2步态设计...................................................................................................................123.2．1前三步步态设计..............................................................................................133.2．2翻跟头步态设计..............................................................................................173.2.3连续前进步态设计............................................................................................193.2.4主程序流程图：.................................................................................................213.2.5PWM_6流程图.................................................................................................224实验验证及结果分析...................................................................................................234.1实验调试过程...........................................................................................................23IV双足步行机器人毕业论文4.2实验演示...................................................................................................................245实验结论与总结..........................................................................................................28参考文献.........................................................................................................................29致谢............................................................................................................................30附录.................................................