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The Design of Quadruped Robot Gait Control System

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This paper analyzes a new gait control design process for a quadruped robot based on STC90C516RD+ Single Chip Microcomputer (SCM). Through the programming to change the duty ratio of the PWM output signal, we can control the the steering angle and speed of the 12 way steering gears. And we can achieve the different gait planning by changing the forward and reverse of the steering gear. In the environment of Keil51 microcontroller with C programming language, we can obtain the main system program according to the specific design and form .Hex file, and then use Proteus to simulate its movement. Then we solder circuit boards in accordance with the schematic and download .hex file to the Keil51 microcontroller. The hardware master chip can receive control commands of the infrared emitter or serial port to drive the corresponding servos to complete the appropriate action. We record each action and use Adobe Premiere Pro to combine the video and audio as the final results show.
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Keywords: Gait Control; Quadruped Robot; STC90C516RD+; Steering Gear

Document Type: Research Article

Affiliations: Mechanical Engineering School, North China University of Water Resources and Electric Power, Zhengzhou, 450011, China

Publication date: September 1, 2016

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  • Journal of Computational and Theoretical Nanoscience is an international peer-reviewed journal with a wide-ranging coverage, consolidates research activities in all aspects of computational and theoretical nanoscience into a single reference source. This journal offers scientists and engineers peer-reviewed research papers in all aspects of computational and theoretical nanoscience and nanotechnology in chemistry, physics, materials science, engineering and biology to publish original full papers and timely state-of-the-art reviews and short communications encompassing the fundamental and applied research.
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