Control of the Biped Walking Robot Servos Based on AVR

摘要

On the basis of AVR microcontroller,this paper proposes a parallel and integral method to generate multiplex PWM waveforms,which is of great accuracy and able to control large number of servos.Moreover,a step program for the biped walking robot is designed.The servos are proved to be stable in operation,good in follow and convenient for timing.The robot walks steadily with frequent stride,whose program is widely applicable.