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基于单片机的双足仿生运动机器人的设计
摘要
日本早稻田大学著名机器人学专家加藤一郎教授说过：“机器人应当具有的最大特征之一就是步行功能。”在本次设计中以STC15W4K56S4单片机为系统的中央控制器，通过STC15W4K56S4单片机产生的PWM波控制6路舵机实现双足机器人的行走、鞠躬、下蹲、坐立和单脚站立等功能。系统硬件部分主要由单片机、舵机、按键等；软件部分主要包括单片机的初始化、特殊寄存器的设置、站立保持程序、按键扫描程序、延迟程序等。通过单片机的在线仿真功能，使用keil编程软件实现对机器人舵机参数调整。经过调试基本实现预定功能。
关键词： 双足机器人 STC15W4K56S4 舵机
Design of biped bionic motion robot based on micro-controller
Abstract
Professor Kato Ichiro, a famous robotics expert at Waseda University in Japan, said: “One of the biggest features robots should have is a walking function.” In this design, a central controller with the STC15W4K56S4 microcontroller as the system, PWM waves generated by the STC15W4K56S4 microcontroller the 6-way servo realizes biped robot walking, squatting, crouching, sitting and standing on one foot. The hardware part of the system mainly includes SCM, servos, buttons, etc. The software part is the initialization of the SCM, the setting of the special registers, the standing and holding program, the key scan program, and the delay program. Through the on-line simulation function of the one-chip computer, use keil programming software to realize the parameter adjustment of the servo of the robot. After commissioning, basic functions are achieved.
Key wordsbiped robot STC15W4K56S4 steering gear
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