| Along with the fast development of the bionics and robot technology, bionic robot becomes a popular topic in the area of robot research. By combining theory and practice, the paper studies on the control system of bionic cockroach robot. According to the real-time demand of the system,a high performance digital signal processor chip ---TMS320LF2407A isapplied to the system, and a set of perfect bionic cockroach platform system is developed.The main research of the paper includes: The research and application status of Legged Robot is firstly reviewed;then the mechanical structure design is introduced, the robot adopts a three different structure form of joint according to varied leg function, the bionic in structure of the robot is realized;And in the following third and fourth chapters , the motor-driven control system design based on DSP, the hardware and software of serial communication and EEPROM interface circuit are described;Finally the gait of robot and the CPG model are testified , the simulation results are presented.The experiment results indicate that the robot and its control system are designed reasonably and have reached the anticipated demand. |
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