Embedded control system design and experimental analysis of bionic quadruped robot

摘要

The research object of this paper is a small bionic quadruped robot with four degrees of freedom per leg. This robot uses embedded chip called Stm32f103vct6 as the core for its hardware of control system. By the control system, the data packets of gait are sent to digital servos on every joint in a half-duplex communication mode to control rotation angles of servos, so we can control the stable motion of the quadruped robot precisely. Experimental results showed that: during walking the roll angle, pitch angle and yaw angle (RPY angle) of robot body changed lightly, the movement was relatively stable. It validated the design of embedded control system can control the quadruped robot precisely to achieve stable quadruped walking. The small embedded control system has some advantages such as fast processing speed, peripheral scalability and strong storage capacity, so it meets the requirement of intelligent algorithms, low power movement for a bionic quadruped robot.