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计算机系统应用英文版:2016,25(6):59-63

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基于AVR和STM32的仿生六足机器人控制系统

韩宝玲¹, 刘广新¹, 罗庆生², 黄祥斌¹, 张述玉³

(1.北京理工大学机械与车辆学院, 北京 100081;2.北京理工大学机电学院, 北京 100081;3.北京理工大学光电学院, 北京 100081)

Control System Design of the Six Legged Robot Based on AVR and STM32

HAN Bao-Ling¹, LIU Guang-Xin¹, LUO Qing-Sheng², HUANG Xiang-Bin¹, ZHANG Shu-Yu³

(1.School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China;2.School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China;3.School of Optoelectronics, Beijing Institute of Technology, Beijing 100081, China)

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本文已被：浏览 2129次下载 2856次
Received:October 02, 2015 Revised:November 11, 2015

中文摘要: 本文设计了一种以Arduino为开发平台的控制系统,该控制系统以ATmega328P为主机控制芯片,以STM32F103C8T6为从机控制芯片,并通过串口方式实现通信,集两款控制芯片的优势于一体.本文主要介绍了控制系统的硬件组成和软件算法.经过实物试验,仿生六足机器人可以实现姿态自动调整、稳定行走以及自主避障.本研究内容可为相关领域研究工作提供参考与借鉴.

中文关键词: 仿生六足机器人 Arduino ATmega328P STM32F103C8T6

Abstract:In this paper, a control system based on Arduino is designed. The control system takes ATmega328P as the master control chip, STM32F103C8T6 as the slave computer control chip, and the communication is realized through the serial port mode. The advantages of the two control chips are integrated. This paper introduces the design scheme of the control system from two aspects: hardware and software. The real experiments demonstrateed the bionic six legged robot can achieve automatic posture adjustment ability, stable walking, and reliable obstacle avoidance ability. The content of this article can provide reference for the research work in the relevant fields.

keywords: six legged robot Arduino ATmega328P STM32F103C8T6

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引用文本：
韩宝玲,刘广新,罗庆生,黄祥斌,张述玉.基于AVR和STM32的仿生六足机器人控制系统.计算机系统应用,2016,25(6):59-63
HAN Bao-Ling,LIU Guang-Xin,LUO Qing-Sheng,HUANG Xiang-Bin,ZHANG Shu-Yu.Control System Design of the Six Legged Robot Based on AVR and STM32.COMPUTER SYSTEMS APPLICATIONS,2016,25(6):59-63

Author Name	Affiliation
HAN Bao-Ling	School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China
LIU Guang-Xin	School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China
LUO Qing-Sheng	School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
HUANG Xiang-Bin	School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China
ZHANG Shu-Yu	School of Optoelectronics, Beijing Institute of Technology, Beijing 100081, China