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中文摘要：
分析了四足哺乳动物身体结构及运动方式，设计了一款四足仿生机器人。采用STM32F103VET6为核心的控制芯片构建硬件控制系统，利用芯片的通用定时器产生12路PWM波控制机器人各个关节运动。实验结果表明，四足机器人的12个关节运动平稳，对复杂运动步态的控制精确，实现了在地面的稳定运动。
英文摘要：
A quadruped robot is designed based on body structure of four feet mammals and mode of motion of their. Its control system based on STM32F103VET6, using the timers of STM32F103VET6 to produce 12 - channel PWM wave to control robot＇s legs. The experiments show that joints motion control of 12 degree - free- dom is stable,the smarter and smaller control system can control complex movement gait precisely and the robot can achieve ground motion.
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