Study on the motion design and control algorithm of the tortoise robot

摘要

Abstract Turtle robot is a four-legged robot based on bionic concept. There are many researches on quadruped robots in the world, and many domestic and foreign research institutions have also developed prototypes and conducted relevant researches. If the traditional control system of the quadruped robot is used, it is difficult to obtain ideal results. At the same time, the robot’s feet are easily affected by the external environment, and how to keep the robot moving in a coordinated and balanced manner makes the problem more complicated. Starting from the control problem of the four-legged robot, this paper takes the action controller of the tortoise robot as the research object, studies the control method of one leg, establishes the four-legged eight-joint control system of the tortoise robot, designs the motion and control algorithm, and uses the infrared wireless module for remote wireless control.