基于单片机的双足仿生运动机器人的设计毕业论文+任务书+选题审批表+开题报告+文献综述+答辩记录及答辩PPT+论文附录代码

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 words biped robot  STC15W4K56S4  steering gear

目录

1 概述 1

1.1 研究背景及意义 1

1.2 机器人的应用领域及发展现状 1

1.2.1 应用领域 1

1.2.2 发展现状 1

1.3 双足机器人设计要求 2

1.3.1 硬件部分 2

1.3.2 软件部分 2

2 系统方案设计 3

2.1 主控芯片选择 3

2.2 机器人自由度选择 3

2.3 驱动方案选择 3

2.4 双足机器人的步态规划 4

2.5 双足机器人的步态设计 4

3 双足机器人的硬件设计 5

3.1 硬件系统结构 5

3.2 单片机控制模块 5

3.3 稳压驱动模块 6

3.4 舵机模块 7

4 双足机器人的软件设计 9

4.1 编程软件 9

4.2 程序设计 10

4.2.1 程序流程图 10

4.2.2 主程序 10

4.2.3 关节测试程序 11

4.2.4 行走程序 12

4.2.5 动作程序 12

5 调试 15

6 总结 18

参考文献 19

致谢 20

附录 21