摘    要

在人类认识世界和探索世界的过程中，存在人类无法到达的地方和可能危及人类生命安全的地方，如星球探测、战场侦察和灾难救援等。仿生机器人的出现为上述问题的解决提供了一条行之有效的途径。多足仿生机器人在恶劣的地形环境下表现出良好的适应性，使得多足仿生机器人的研究对星球探测和灾难救援等领域的研究具有重要的理论与现实意义。

六足仿生机器人作为典型的多足仿生机器人之一，其控制系统的研究可以为多足仿生机器人的研究提供参考。

（1）论文分析了六足仿生机器人的国内外研究历史和现状，给出了论文的主要研究内容。

（2）基于六足昆虫的身体结构和运动机理，给出了六足仿生机器人的简化结构模型。研究了六足仿生机器人的三足步态，详细分析了直线行走步态和转弯步态。

（3）采用一片式解决方案，设计并制作了六足仿生机器人的硬件控制系统。系统具有良好的稳定性和可扩展性。

（4）采用Keil uVision3编写了六足仿生机器人控制系统的程序。通过编译、仿真、调试，实现了对六足仿生机器人的控制。

（5）对六足仿生机器人进行建模，使用Matlab进行系统仿真。并对程序进行移植，实现了六足仿生机器人的高实时性和高适应性的步态控制。

基于以上工作，完成了六足仿生机器人控制系统的设计和实现。

关键词：六足；仿生机器人；控制；步态

Control and Implementation of a Hexapod Bionic Robot

Abstract 

In the process of humans understanding and exploring the world, there are some places where humans can not reach or where is dangerous for human life, such as planetary exploration, battleground detection and disaster rescue and so on. Bionic robot provides an effective way to solve the above problems. Multi-legged bionic robot shows a good adaptability in rough terrain environment, which means the research on multi-legged bionic robot has an important theoretical and practical significance on research in the planetary exploration and disaster rescue areas.

As a typical kind of various multi-legged bionic robots, hexapod bionic robot’s control system’s research could provide reference for research on multi-legged bionic robot.

(1) Paper analyses hexapod bionic robot’s domestic and foreign research history and status, and gives the main research content of the paper.

(2) Based on the body structure and movement principles of a hexapod insect, we give a simplified model of hexapod bionic robot. We have a research three-legged gait on hexapod bionic robot, and have a detailed analysis on straight walking gait and turning gait.

(3) We use one-chip solution to design and make the hardware control system of hexapod bionic robot. The system has a good stability and scalability.

(4) We use Keil uVision3 to edit, compile, simulate and debug the software program of hexapod bionic robot’s control system. And we implement control of the hexapod bionic robot.

(5) We model for the hexapod bionic robot, and make a system simulation by Matlab. We transplant the program to the MCU and implement a highly real-time and highly adaptable control of the hexapod bionic robot.

Based on the above work, we completed the design and implementation of a hexapod bionic robot’s control system.

Key Words：Hexapod；Bionic Robot；Control；Gait