文档介绍：基于STM32双足竞步机器人的研究与设计
摘要：随着工业的不断发展和科技的不断进 步，智能机器人已逐步应用到各个生产领域，并促进 机械、农业、家具等向智能化方向发展。为此，设计 了双足竞步机器人。该机器人将先进的自动控制系统 与机械设备的有效结合，并通过STM32单片机输出 pwm波形来控制舵机运动，从而实现机器人的前进、 后退、转弯等多个动作。而且本系统的功能还能延伸 运用，可以很好地用于其它相关领域，具有一定的扩 展应用价值和意义。
关键词：双足；竞步；自控；舵机 中图分类号：TP368文献标识码：A
Research and design of biped walking robot based on STM32
LU Shilin, LI Caixia, ZHANG Kuiqing, DUAN Zhongchen
(School of mechanical and electrical engineering, Dezhou University, Dezhou Shandong 253023, China) Abstract： with the continuous development of science and technology, intelligent robot has been gradually applied to all areas of production, and promotes the intelligent development of machinery, agriculture, furniture etc. To this end, the paper proposes the design of a biped walking robot. The robot researches the effective combination of the advanced automatic control system and mechanical equipment, and concretely applies PWM waveform output of the STM32 MCU to control steering gear, so as to realize stepping forward/backward, turning and other movements of the robot. And the function of the system could also be extended for use, which can be well used in other related areas, and has a certain value and significance of the expanding application.
Key words： double feet； step by step； automatic control； steering gear
0引言
双足竞步机器人是足式机器人中自动化程度最 高、设计复杂测评指数获居前茅的一款机器人。该机 器人具有长久续航的特性，并且能适应各种恶劣的环 境，不仅可以在平地上行走，而且还可以在