摘要
针对目前的搏击类体感游戏只能做到实体对虚拟的现状,设计一种基于设备体感控制的双轮自平衡搏击机器人。用双轮平衡车设计,替代普通机器人双腿;体感由13个MPU6050传感器构成,其中,12个分别佩戴在控制者的左右胳膊上,1个佩戴在控制者的腰部。根据每个MPU6050传感器实时发出的角度,确定出控制者胳膊上的采样点,使用拉格朗日插值法进行姿态拟合,检测出控制者的姿态。经过无线串口将控制者的姿态信息发送给机器人,进而实现对机器人的控制。所设计的基于设备体感的双轮自平衡搏击机器人具有操控灵活、稳定性高、娱乐性强等特点。
Considering that the present motion-sensing games can only realize a virtual experience,a motionsensing controlled two-wheel self-balanced fighting robot is designed. The robot is designed on the basis of twowheel balanced car,which has the characteristics of flexibility,celerity and stability,making it possible to replace legs of ordinary robots. The motion-sensing part is composed of 13 MPU6050 sensors,of which 12 of them are equipped on the controller's arms and one on the waist. According to the launching angles of each MPU6050 sensor,the sampling sites are labeled on controller's arms. And then by Lagrange's Interpolation Polynomial,controller's attitudes can be detected. Through wireless serial port,information of controller's attitudes are sent to robot so as to realize robot control. The designed two-wheel self-balanced fighting robot possesses the features of drivability,high stability and strong entertaining.
引文
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