The invention discloses a walking type robot based on Arduino. The robot comprises a series leg module formed by hinging of at least two leg segments and used for supporting and completing a walking action, steering engine modules mounted at hinge points of the series leg modules and used for driving the leg segments to rotate independently, an ultrasonic module used for detecting obstacles aroundthe robot, a central control module used for controlling the steering engine modules and the ultrasonic module, and a power supply module connected with the central control module and used for supplying power to the ultrasonic module and the steering engine modules. The central control module controls the steering engine modules at the hinge points of the series leg module, movement of legs of the multi-legged robot is achieved, the robot is driven to move, displacement under various terrains and environments is achieved in cooperation with the ultrasonic module, and through calculation and output of a steering engine action angle and in cooperation with a cycloid motion trail of a foot end, movement of the series leg module is achieved; and simulation actions of biological joints are completely simulated, and the walking stability of the robot is improved.

    本发明公开了一种基于Arduino的步行式机器人,包括:串联腿部模块,由至少两段腿部肢节铰接而成,用于支撑和完成行走动作;舵机模块,安装于串联腿部模块铰接点,分别用于驱动各个腿部肢节独立转动;超声波模块,用于探测机器人周围障碍物;中央控制模块,用于控制舵机模块和超声波模块;电源模块,与中央控制模块联通并为超声波模块和舵机模块供电。本发明通过中央控制模块控制串联腿部模块铰接点处的舵机模块,实现多足机器人腿部的运动,带动机器人移动,配合超声波模块的实现在各种地形和环境下的位移,并通过舵机动作角度的计算和输出,配合足端的摆线运动轨迹,实现串联腿部模块的运动,完全模拟生物关节的拟真动作,提高机器人行走的稳定性。


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    Title :

    Walking type robot based on Arduino and control method of walking type robot


    Additional title:

    基于Arduino的步行式机器人及其控制方法


    Contributors:
    ZHAO RUONAN (author) / SHAO XUEJUAN (author) / HAN TAO (author) / CAO RUI (author) / ZHANG CHI (author) / LIANG XIAOJUN (author)

    Publication date :

    2021-03-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B62D MOTOR VEHICLES , Motorfahrzeuge



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