Abstract
In this paper, six-legged insects bionic prototype, designed a six-legged robot to climb stairs and control systems. Master-slave control system design structure, the host platform to a control arm microcomputer core, the slave servo control system implemented motion control core. When detecting the complex environment of the stairs, the camera is used to detect the amplitude and position of the blurred edge of the stairs, and the distance between the stairs and the robot is measured by calculation. In the gait control, a triangular gait control algorithm is adopted. The 3D solid model was generated by CATIA 3D modeling software, and the six-legged robot’s straight walking gait and stair climbing gait analysis were carried out to verify the rationality of the robot structure and the feasibility of the motion. Experiments show that this control system has stable movement, strong adaptability and high use value.
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Acknowledgments
Thanks to Mr. Chunyu Mao for his careful guidance on this paper. This research was supported by Program for Innovative Research Team of Jilin Engineering Normal University.
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Sun, X., Mao, C., Yu, M. (2019). Research on Robot Control System in Complex Information Environment. In: Sugumaran, V., Xu, Z., P., S., Zhou, H. (eds) Application of Intelligent Systems in Multi-modal Information Analytics. MMIA 2019. Advances in Intelligent Systems and Computing, vol 929. Springer, Cham. https://doi.org/10.1007/978-3-030-15740-1_51
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DOI: https://doi.org/10.1007/978-3-030-15740-1_51
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