单片机与嵌入式系统应用Issue(10)：37-40,4.
液压仿生四足机器人控制系统研究
Reasearch on Control System of Hydraulic Bionic Quadruped Robot
罗庆生 1朱立松 1牛锴 1司世才2
作者信息
- 1. 北京理工大学机电学院，北京100081
- 2. 北京理工大学机械与车辆学院
- 折叠
摘要
Abstract
According to structural and functional characteristics of the hydraulic bionic quadruped robot ,a new composite control struc‐ture ,which combines a distributed control system with a hierarchical control system ,is proposed to achieve robotic control task .This sys‐tem includes three layers such as decision controller ,gait planning layer and servo drive layer ,and the three layers are coordination to en‐sure the realization of the control task .Finally ,the experiment results indicate that the robot can smooth motion with given gait and the control system is able to meet the requirements of the quadruped robot .关键词
嵌入式控制系统/液压伺服控制/四足机器人/S5PV210/STM32F407Key words
embedded control system/hydraulic servo control/quadruped robot/S5PV210/STM32F407分类
计算机与自动化引用本文复制引用
罗庆生,朱立松,牛锴,司世才..液压仿生四足机器人控制系统研究[J].单片机与嵌入式系统应用,2015,(10):37-40,4.
