Three-class control system based on CAN and wireless communication for wheeled foot quadruped robot HITAN-1

In this paper, a wheeled foot quadruped robot, which can be applied in the fields of engineering exploration, anti-terror, military spy and other related areas, is researched. In order to realize its cableless features, the three-class robot control system structure uses multicontrollers and drivers, which is designed based on CAN bus and wireless communication. The control unit for every robot leg is composed of one controller and four drivers, which realizes the controller openness, decreases the robot volume and weight, and accordingly increases the robot speed and load limit. The motors for joints control adopt a control strategy of speed PlD and moment peak control in position mode.