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1、［摘要］仿生机器人是依据仿生学原理，模仿生物结构、运动特性等设计性能优越的机电系统，已逐渐在反恐防爆、太空探索、抢险救灾等复杂任务环境中突显出良好的应用前景。目前国内外有关机器人控制系统存在问题在于设计中通常用AVR系列微控制器,DSP系列控制器等对机器人系统进行控制。由于四足机器人需要在地面稳定运动，而且对周围环境有很强的适应性，不仅需要实时采集其运动过程中的姿态并且对其做出相应的调整，且需要实时感知足端受到的地面冲击力然后对其控制，而STM32完全满足四足机器人运动控制系统的要求。因此，设计了以其为核心的四足机器人控制系统，并具体地阐述了它的整体设计方案、软件
2、设计与硬件设计，最后通过仿真结果证明该设计能够实现精确、实时控制四足仿生机器人。［关键词］仿生机器人；运动控制系统；控制器；STM32；中图分类号：TM771文献标识码：A文章编号：1009-914X(2017)12-0251-02DesignandResearchofJointMotionControllerforFour・leggedBionicRobotMAPeng-bo(SchoolofInformationEngineering,HenanInstituteofTechnology,Xinxiang453000,China)[Abstract]Bioni
3、crobotisbasedontheprincipleofbionics,imitationofbiologicalstructure,sportscharacteristicsandotherdesignperformaneeofthemechanicalandelectricalsystem,hasgraduallyintheanti・teirorismexplosion,spaceexploration,disasterreliefandothercomplexmissionenvironmenthighlightsagoodapplicationprosp
4、ects.Atpresent,theproblemathomeandabroadisthatthedesignoftheAVRseriesofmicrocontrollers,DSPseriescontrollerisdifficulttocontrolthesmallrobotsystem.Becausethequadrupedrobotneedstobestableonthegroundandhasastrongadaptabilitytothesurroundingenvironment,ithasahigherdemandforthevolumeandwe
5、ightofthecontrolsystem,andneedstoacquiretheattitudeofthefourstepsinrealtimeandmakeitThecorrespondingadjustment,andtheneed(SchoolofInformationEngineering,HenanInstituteofTechnology,Xinxiang453000,China)[Abstract]Bionicrobotisbasedontheprincipleofbionics,imitationofbiologicalstructure,s
6、portscharacteristicsandotherdesignperformaneeofthemechanicalandelectricalsystem,hasgraduallyintheanti・teirorismexplosion,spaceexploration,disasterreliefandothercomplexmissionenvironmenthighlightsagoodapplicationprospects.Atpresent,theproblemathomeandabroadisthatthedesignoftheAVRseries
7、ofmicrocontrollers,DSPseriescontrollerisdifficulttocontrolthesmallrobotsystem.Becausethequadrupedrobotneedstobestableonthegroundandhasastrongadaptabilitytothesurroundingenvironment,ithasahigherdemandforthevolumeandweightofthecontrolsystem,andneedstoacquiretheattitudeofthefourstepsinre
8、altim
