中文摘要：

仿生设计一款小型的单腿具有四自由度的仿生四足机器人，开展机器人运动学正逆解分析。基于ARM Cortex—M3内核的嵌入式芯片建立了机器人控制系统。该控制系统以半双工串口通讯方式向各个关节数字舵机发送步态数据包，控制舵机转动角度值，从而精确地控制四足机器人的稳定协调运动。实验结果表明：机器人在行走过程中机身的横滚角、俯仰角、偏航角（RPY角）变化较小，运动较为平稳，验证了机器人运动学正逆解准确性；以及所设计的嵌入式控制系统能较为精确地控制四足机器人运动，实现稳定的四足行走。该小型的嵌入式控制系统具有运算处理速度快、外设可扩展性和存储能力强的优点，满足仿生四足机器人智能算法、低功耗运动要求。

英文摘要：

The research object is a small bionic quadruped robot with four degrees of freedom per leg,and the analysis of robot inverse kinematics was also carried out. Control system of the robot uses embedded chip based on ARM Cortex-M3. By the control system, the data packets of gait are sent to digital servos on every joint in a halfduplex communication mode to control rotation angles of servos, so can be control the stable motion of the quadruped robot precisely. Experimental results showed that： during walking the roll angle, pitch angle and yaw angle （RPY angle） of robot body changed lightly, the movement was relatively stable. It validated the design of embedded control system can control the quadruped robot precisely to achieve stable quadruped walking. The small embedded control system has some advantages such as fast processing speed, peripheral scalability and strong storage capacity, so it meets the requirement of intelligent algorithms, low power movement for a bionic quadruped robot.