Real-time measure and control system of biped walking robot based on sensor

Control of biped walking robot based on sensor becomes one of the key points of robotic technology. In order to adapt the changes of environment, this article designs a CAN network of measurement and control, including gait planning unit, sensing unit and control unit. Firstly, various walking function and requirements of the measurement and control algorithm are studied. Secondly, a control system based on sensor is proposed. Each module of system is designed to achieve function of walking. Thirdly, experiments are carried out on walking device. Different control cycles of motion planning unit, feedback of joint´s position, joint motion controller and attitude sensor are listed in order to test the different performances of motor tracking motion. Finally, experiments show that the tracking error and volatility are able to meet the real-time sensing control requirements by using this method. So this study can be applied to controlling biped walking robot based on sensor.