中文摘要：

针对所创作的机器人戏剧剧本,研制一套用于数字舞台表演的大型海龟机器人系统.该机器人由机械系统和控制系统组成,机械部分由4条3DOF模块化轻型腿、一套具有连续曲率的柔性脖子、龟壳开合装置和碳纤维框架组成,所有电机、电路板等机电部件安装于躯干中,通过同步带将电机的运动传递到外端,降低了悬臂部分的尺寸和质量,减轻了电机的负载.系统的控制部分由上位机及嵌入式控制器组成,分别提供顶层的人机交互和底层的关节实时控制功能.采用重心自调整的方法规划运动步态,确保多足运动的稳定性.经大量实验,研制、开发了样机,完成了机器人戏剧的公演,所研制的机器人可以完美地演绎戏剧角色,外形美观,惹人喜爱,表演效果极佳.

英文摘要：

According to the created robot theatre script, a big turtle robotic system was developed for performance at digital stage. This robot includes mechanics system and control system, and the mechanics system is composed of four 3-DOF modularized light weight legs a flexible neck with continuous curvature, a shell opening and closing device and a carbon fiber torso frame. All the mechanotronics devices, including motors, circuit board et al, are installed in the main body. Through the synchronous belt, the motion of the motor is transferred to the outer end, largely reducing the size and weight of the cantilever, then reducing the load of the motor. The control system consists of a PC and an embedded controller, respectively provides the functions of human-computer interaction at high level and the realtime control of each joint at low level. According to the requirement of performance at the stage, a COG self-adjusting gait planning method was presented, assuring the stability during the movement of multiple legs. Finally, the robotic prototype was developed which had beautiful appearance. After the verification based on certain experiments, the robot was used to conduct a number of public performances. The results showed that the developed robot perfectly played the role of the drama performance and provoked audience to love it.