ZHANG Ben1, BIAN Xin gao2, ZHU Deng lin2

 

(1. College of Mechanical & Electrical Engineering, Sanjiang University, Nanjing 210012, China;

 

2. College of Mechanical & Electrical Engineering, Hohai University, Changzhou 213022, China)

 

 

Abstract: In order to solve the problems of quadruped robot control system, a distributed robot control system used for quadruped robot was designed. The complex control system of the quadruped robot was studied, which is composed of PC for monitoring and a 32bits MCU with ARM9 core for control. The main control system was communicating on CAN bus. Researched on the main controller was used for system harmonizing, gait programming, giving out moving instructions to Sub controller and communication with monitor. Every Sub controller is used for 3 coordinates moving control of each leg, and transfers the real time dates to main controller. This control system has been running on JQRI00 quadruped robot. The results indicate that the reliability and the real time character of this quadruped walking platform.

 

Key words: quadruped robot; distributed control system; CAN bus; PC; ARM