Design and Implement for Intelligent Four-legged Robot Dog SPRESENSE -Base

摘要

This paper mainly describe the design and implementation of the intelligent four-legged robot dog SPRESENSE-base. It tries to simulate the real dog's behavior. It can walk, run, talk with you, and active track. This article take it as example to study how to design and implement the intelligent four-legged robot dog. It use the self-developed Sobot bionic quadruped robot control system; SpotMicroAI open source model structure was used to construct the hardware model; Sony SPRESENSE development board is used for the main board; Using gyroscope for detecting gait; Using ultrasonic wave for detecting obstacles ahead; using laser radar for detecting the environment around; using voice control module for voice recognition; Using image recognition processing technology to realize the active track. After more than one year of research and development, we have realized the mechanical model of the four-legged robot dog; it can follow the command to walk, trot and other gaits; it can automatically avoid obstacles ahead. The system also has the characteristics of high execution efficiency, portability, compatibility, reliability, practicability and easy expansion because of using C/C++ development language.