中文摘要:

由于六足仿生机器人的足数较多，控制其稳定行走较为复杂，针对控制六足机器人稳定行走的要求，该六足机器人的腿部是参照蚂蚁的腿部结构进行设计，并对其进行建模分析。整个系统在硬件上选取了Arduino、无线模块、显示模块、舵机控制板等；软件上选用Qt Creator在上位机上编程，用于远程遥控六足机器人及观察其行走状态变化；在步态控制上采用了三角步态控制算法。通过设计机械结构、建模分析以及硬件、软件和算法的结合，实现了六足仿生机器人的稳定行走。

英文摘要:

It is complicated to control the hexapod bionic robot to walk steadily due to itslarge number of legs.To meet the request of the steady walk,the legs of hexapodbionic robot are designed with reference to the leg structure of ants and bymodeling to analyze its features.The whole system chooses Arduino,wirelessmodule,display module,a servo control board and so on in the hardware.Thesoftware is written with Qt Creator in upper computer,which can be used toremote control the robot and observe its state change.The tripod gait controlalgorithm is adopted in the gait control.With the combination of mechanicaldesign,modeling analysis,hardware,software and algorithm,the stable walking ofthe hexapod bionic robot is realized.

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