作者：张开宇1，高国伟1，2，毛浩龙3
单位：1. 北京信息科技大学 传感器重点实验室，北京  100192；
2. 北京信息科技大学 现代测控技术教育部重点实验室， 北京 100101；
      3. 北京信息科技大学，北京 100096
中图分类号：TP242           
文献标识码：A           
文章编号：1006-883X(2020)10-0022-05
收稿日期：2020-09-16

摘要：仿生机器人一直受到人们的关注。本文设计了一种四足爬行机器人，模仿蜘蛛爬行动作，每条腿均有3个伺服电机，总计12个伺服电机。以ESP8266为主控芯片，通过PCA9685将数字信号转换为PWM信号控制舵机。采用了1.3英寸128*64的OLED液晶显示来进行显示。机器人控制系统高度集成化，机器人开机时便会进行复位，通过Wi-Fi连接的控制系统也可以进行程序复位，所以不必设置手动复位电路。实验表明，该四足爬行机器人可以完成爬行，转弯和翻越障碍物等动作。
关键词：ESP8266；仿生机器人；3D打印技术

Design and Implementation of a Quadruped Crawling Robot Based on ESP8266
ZHANG Kai-yu1, GAO Guo-wei1,2, MAO Hao-long3
1. Key Laboratory of Sensors, Beijing Information Science and Technology University, Beijing 100192, China; 2. MOE Key Laboratory for Modern Measurement and Control Technology, Beijing Information Science and Technology University, Beijing 100101, China; 3. Beijing Information Science and Technology University, Beijing 100192, China
Abstract: Bionic robots have always attracted peoples attention. In this paper, a four-legged crawling robot is designed to imitate spider crawling movements. Each leg has 3 servo motors, a total of 12 servo motors. With ESP8266 as the main control chip, the digital signal is converted into PWM signal to control the steering gear through PCA9685. A 1.3-inch 128*64 OLED liquid crystal display is used for display. The robot control system is highly integrated. The robot will reset when it is turned on. The control system connected via Wi-Fi can also reset the program, so there is no need to set up a manual reset circuit. Experiments show that the four-legged crawling robot can perform crawling, turning and over obstacles.
Key words: ESP8266; Bionic robot; 3D printing technology

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备注：2020年 第26卷 第10期