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A Implementation of the Four-Leg Robot

2013-09-17
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Abstract: The walking of a quadruped robot is successfully realized through the \"diagonal consistency\" strategy. The nine degrees of freedom of the robot are all realized by stepper motors, and the entire system is controlled by AT89C51 single-chip microcomputer. The acceleration control idea is used in the software to make the robot\'s movements smoother. Combined with background music, the robot\'s movements are accurately controlled to make the robot dance with the music. Keywords: quadruped robot; walking robot; diagonal consistency; stepper motor acceleration control The core part of the control - the circuit board and the power supply are placed in this 5.0cm deep liner. Three groups of six holes are evenly drilled around the circumference of the disk to fix the upper limb motor of the hand. In our action design, the robot is required to have a waist twisting action. In order to maintain uniform and balanced rotation, the motor shaft must be in the center of the disk. We fix the motor that controls the waist on two long screws that pass through the organic glass disk. Placing the circuit board at the waist requires the wiring of the motor below the waist to pass through the organic glass disk, which will cause the wire to be entangled when the waist rotates.

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