Research On Bionic Hexapod Robot Based On AVR MCU

With progress of society and the development of technology, more and more robots are entering the production process and daily life; various robots are playing an increasingly important role in the particular work environment. But now the mobile robots are mostly multi-wheeled, which are inefficient in in adapting to the complex terrain conditions. So designing a robot with good flexible, smooth movement and strong adaptability has been the kay in solving such a key problem.In this paper a bionic hexapod robot designed in combination with the principle of bionics and robotics. The five-linkage walking mechanism of the robot is designed, based on the tripod gait movement of insect, together with analysis of its duty cycle, stability, turning state.The ATmega8515L chip of Atmel AVR series was selected as the hardware control chip. And the robot movement control was conducting by software by combination of the port design and peripheral circuit. This robot is capable of independent walking and obstacle avoidance. The infrared sensors installed in front of the robot detects the front environmental, the target is reached directly when no obatacle was detected, and the detected obstacles will be avoided before the target is attained, and an urgent stop will be implemented when the obstacle was difficult to avoid. The infrared sensors sends the detected signals to the micro-controller chip, control procedures determine the next step in the direction, The DC servo motor installed on both sides of the robot are incharge of turining and urgent stop throuth atart/stop and rate change. Finally, The five-linkage walking mechanism of the robot accomplishes the turing movement.The algorithm of fuzzy control and virtual force field are integrated in the robot control theory. The gravity and repulsion generated by the target and obstacle are calculated in the virtual force field, and the direction of the robot walking path will be decided by the resultant force. The information of barrier is gained by the using the artificial potential field,, the robot through the barriers of distance and angle between the poor domains of fuzzy set of robot control the output of fuzzy rules table, checking the fuzzy look-up table to decide the next step of action.Finally, the robot obstacle avoidance procedures are simulated under the CodeVisionAVR compiling environment compile. Experimental results show that the system functioned well,and obstacle avoidance can be realized successfully.