| 基于模糊控制的双足步行机器人控制研究 |
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| 引用本文： | 刘永泉,郗安民,刘鸿飞. 基于模糊控制的双足步行机器人控制研究[J]. 微计算机信息, 2010, 0(14) |
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| 作者姓名： | 刘永泉 郗安民 刘鸿飞 |
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| 作者单位： | 北京科技大学机械工程学院;内蒙古科技大学建筑与土木工程学院; |
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| 摘 要： | 本文研制了一台能够独立自主行走的新型的双足步行机器人。机器人的主体部分采用6台伺服舵机,由伺服舵机对机器人进行驱动,同时舵机本身又可作为躯干,使整个机器人的结构非常紧凑。这也是对现有大多数此类机器人进行研究之后所做的改进。对机器人的行走控制由PIC单片机及其相关电路组成。鉴于双足步行机器人是一个复杂系统,故采用模糊控制来提高其控制的精度。经过实际检验,使用模糊控制可以获得很好的控制效果。
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| 关 键 词： | 双足步行机器人 舵机 模糊控制 |
Study of a Biped Robot Based on Fuzzy Control |
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| LIU Yong-quan XI An-min LIU Hong-fei LIU Yong-quan. Study of a Biped Robot Based on Fuzzy Control[J]. Control & Automation, 2010, 0(14) |
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| Authors: | LIU Yong-quan XI An-min LIU Hong-fei LIU Yong-quan |
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| Affiliation: | (School of Mechanical Engineering,University of Science , Technology Beijing,Beijing 100083 China) LIU Yong-quan XI An-min LIU Hong-fei (The School of Architecture & Civil Engineering,Inner Mongolia University of Science , Technology,Baotou 014010 China) LIU Yong-quan |
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| Abstract: | In this design,there are six servomotors which construct the main part of the biped robot.The biped robot is driven by these servomotors which can act as the body of the biped robot as well.In this way,the biped robot can be better organized and improved in contrast to the other designs.The PIC microprocessor and the other circuits are used to control the robot.Since biped robot is a complex dynamic system,fuzzy control is used to control the robot.The tests show that better control results are achieved wit... |
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| Keywords: | Biped Robot Servomotor Fuzzy Control |
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