仿生六足爬行机器人控制系统设计研究：结构设计与三角步态实现

Robot is the comprehensive reflection of robot, kinematics, control theory and other disciplines’ level of development. It’s one of the hot issues of current research at home and abroad. From the perspective of bionics, the physiological structure and behavior of insects are relatively easy to mimic. Our robot is designed to imitate the walking of six-legged animals. By precisely controlling the servo motors, it simulates the walking gait of six-legged animals and achieves various gaits such as walking, running, turning, etc. It can also intelligently adjust its gait in various ground environments, adapting to smooth surfaces, rough surfaces, sandy surfaces, muddy surfaces, and other harsh road conditions. The analysis of the stepping of the six-legged robot, referencing the dimensions of the physical robot structure, using CAD software to design the dimensions of the robot structure components, and the overall structure dimensions. The robot uses AT89S51, infrared transmitting module, infrared receiving module, and corresponding auxiliary circuits to achieve a tripod gait, enabling functions such as walking in a straight line, reversing, and turning. Keywords: Six-legged robot; Structural design; Tripod gait; AT89S51 microcontroller; Infrared remote control.