基于AI视觉编程的四足仿生机器狗控制系统设计
Design of Quadruped Bionic Robot Dog Control System Based on AI Visual Programming

四足仿生机器人因其对环境有很强的适应性并且还有很强的运动灵活性，可广泛运用于救灾、排雷、探险、军事等领域。基于此，本文研究并完成基于AI视觉编程的四足仿生机器狗控制系统设计。本文所设计四足仿生机器狗控制系统主要以ESP32单片机为主控单元进行硬件模块化设计，主要分为主控单元模块、舵机驱动模块、姿态传感器模块、LED灯光模块、电源电路模块等组成。同时，本文结合Arduino IDE软件程序编写舵机控制程序以及LED模块程序，来实现舵机的步进、转动和角度控制，同时机器狗可以利用ESP32内部集成的WiFi实现手机APP无线遥控功能，从而实现前进后退、左转右转、下蹲、握手、跳跃等动作。在完成系统软硬件设计的基础上，通过对实物样机的试验测试结果显示：本文所涉及四足仿生机器狗控制系统运行稳定，能实现前进后退、左转右转、下蹲、握手、跳跃等动作，具有功能完善、性价比高等特性，在桌面陪伴机器人和教育机器人使用方面具有一定的应用前景。
Quadruped biomimetic robots, due to their strong adaptability to the environment and strong mobility, can be widely used in disaster relief, mine clearance, exploration, and military fields. Based on this, this article studies and completes the design of a quadruped bionic robot dog control system based on AI visual programming. The quadruped bionic robot dog control system designed in this article mainly uses the ESP32 microcontroller as the main control unit for hardware modular design, which is mainly composed of the main control unit module, servo drive module, attitude sensor module, LED lighting module, power circuit module, etc. At the same time, this article combines the Arduino IDE software program to write the servo control program and LED module program to achieve the step, rotation, and angle control of the servo. At the same time, the robot dog can use the integrated WiFi inside ESP32 to achieve wireless remote control function of the mobile app, thereby achieving forward and backward, left and right turns, squatting, shaking hands, jumping and other actions. On the basis of completing the software and hardware design of the system, the experimental results of the physical prototype show that the control system of the quadruped bionic robot dog involved in this article runs stably and can achieve forward and backward, left and right turns, squatting, shaking hands, jumping and other actions. It has complete functions and high cost-effectiveness, and has certain application prospects in the use of desktop companion robots and educational robots.