六足仿生机器人的设计与实现

Design and implementation of hexapod bionic robot

摘要:

所述六足仿生机器人基于SoC FPGA平台实现，结合了机械结构设计、六足步态控制、蓝牙传输技术、弯曲传感器、OpenCL图像处理加速、VR显示等诸多技术。ARM部分作为主控，存储摄像头视频图像，并调用FPGA模块对图像处理加速，通过路由器架设的局域网向VR眼镜输出视频流信息。FPGA部分用于接收蓝牙信号，驱动机器人手臂运动，摄像头拍摄角度切换以及六足行进。实际操作时操作者需佩戴自制的数据手套和VR眼镜。操作数据手套上的方向按键可控制机器人移动。数据手套的每个手指上安装有弯曲传感器，用于控制机械手臂跟随人手实时运动。VR眼镜中放置一个智能手机作为显示终端，实时显示机器人摄像头获取的画面。经过多次实际测试，操作者佩戴VR眼镜及数据手套均可远程操控机器人抓取置于复杂地形中的水瓶。

Abstract:

The hexapod bionic robot is based on the Soc FPGA platform, combining with the mechanical structure design, controlling of gait, technology of bluetooth transmission, bending sensor, acceleration of image processing in OpenCL, VR display, etc. ARM part is a master to store camera video images, to call FPGA module accelerating image processing, and to output video information to VR glasses by WLAN. The functions of FPGA part are to receive the signal of bluetooth, to drive robot arm, to control the servos of camera, and to drive servos of hexapod base. Operator needs to wear a data glove and VR glasses when operating the robot. The direction keys on the data glove can control the robot to move. Each finger of the data glove is equipped with a bending sensor, which is used to control the mechanical arm to move in real time. A smart phone is placed in the VR glasses as a display terminal to display the real-time images which captured by the robot camera. After many practical tests, the operator can remotely control the robot to grab bottles placed in complex terrain.