Motion Control System Of Gecko Robot Driven By Micro-Servos

Today, robots are playing more and more important roles in various fields. The advantages of gecko robot which is one of biomimetic robots, secret,mobility,agility, led to its consideration for various potential applications such as risky task, military affairs, counter strike, rescue.The thesis provided a practical solution to the gecko robot control, which include the hardware system based on single-chip and the software system programmed by C language. Firstly, the article introduced the current situation and development of the wall-climbing robot control technology. Secondly, based on the analysis of locomotive model for gecko robots, the 8051 chip and the ATmega8 chip were selected as the MCU(micro control unit)respectively, which meet the need of the control system. The corresponding hardware circuit was designed. Then, according to the two kinds of different situation such as on the land and on the wall, each gait was simulated by the software ADAMS simulative model respectively. Furthermore, in accordance with the result of simulation the parameter of each gait was optimized and set with the analyse of gait planning. During the course of debugging, the control problems about the robot model were solved with the adjustment of the mechanism and the gait control correspondingly. It was concluded as the following: the precision and reliability of the control system for the gecko robot was proved to satisfy the demand; the locomotive mechanism and gait were verified to be stable and feasible. The solution established a fundament for the following work such as the design of mechanical structure and gait planning as well as the control solution.