Realization Of The Movement Control System Of Gecko-like Robot Based On Atmega128L

Various robots are playing important roles nowadays. As one of these robots, the gecko-like robot has a lot of advantages for its special applications such as military and anti-terrorism.This thesis aims at the design process of the gecko-like robot's control system, mainly studies on hardware design,software design and the gait planning.Firstly, this thesis introduced the development and current situation of the control system of gecko robot, and the robot's mechanical model.To meeting the control requirements,we choose Atmega128L as the control chip and design the hardware of the control system. There are four parts in the control system. They are power module, driving module, wireless communication module, serial communication module. When designing the software of control system, we use modularized design method and improve code recovery rate, apply client/host model. Host transmits the command through wireless module, and client receives and executes the command, backup the state at the same time. Analyzing the gait of gecko, we simulate the gait of gecko-like robot with ADAMS. Through experiments, we find where the problems are and adjust gait.The experiment results show that this thesis solves a series of problems in the model machine controlling, and improved the mechanical design and the gait planning. It was proved that this design is feasible and reaches the expected goals. This thesis established a foundation for the following work such as design of mechanical structure and gait planning as well as the control solution.