To verify the theoretical results of dynamic walking and satisfy the economy requirements, this paper designs and implements a planar footless biped robot THR-I based on bus servo motor.
为了既能验证动态步行的理论结果，又能满足经济性的要求，本文设计并实现了一种基于总线型伺服电机的平面无脚双足机器人THR-I。
The DC servo motors are controlled with motion controller LM629 and motor drive chip LMD18200 based on PC104 bus.
在PC 104总线控制下，应用运动控制芯片LM 629和电动机驱动芯片LMD18200实现了直流伺服电动机的控制。
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