Real-time quadruped robot control system based on Xenomai

The quadruped robots walk or run in a dynamic balance state, and this hold up high requirements to system real-time capability. This paper describes the design of a real-time control system for a quadruped robot and presents the detail of control system hardware and software. The control system includes a real-time controller based on Xenomai, an EtherCAT fieldbus system, hydraulic actuators and sensors. And to accomplish the leg movement control, this paper also solve the inverse kinematic of the legs´ parallel mechanism.