Control system design for multi-legged robot with hand-fused foot

Author

Xinjie Wang ; Xianqun Zeng ; Yuxiao Zhang ; Liangwen Wang ; Bo Wei

Author_Institution

Dept. of Electromech. Sci. & Eng., Zhengzhou Univ. of Light Ind., Zhengzhou, China

Volume

4

fYear

2011

fDate

12-14 Aug. 2011

Firstpage

1762

Lastpage

1764

Abstract

In this paper, a distributed motion control system is designed and achieved for the modular multi-legged robot with hand-fused foot based on CANopen network. A communication network is built among modules and joints through CANopen network. Controllers and encoders are used to achieve closed-loop control for each joint. The system has completed real-time multi-jointed linkage. Moreover, experimental results have proved the reliability and validity of this control system´s hardware and software.

Keywords

closed loop systems; control system synthesis; distributed parameter systems; legged locomotion; motion control; CANopen network; closed-loop control; communication network; control system design; control system hardware; control system software; distributed motion control system; hand-fused foot; modular multilegged robot; real-time multijointed linkage; Control systems; Foot; Joints; Legged locomotion; Real time systems; Robot kinematics; Closed loop; Control system; Robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronic and Mechanical Engineering and Information Technology (EMEIT), 2011 International Conference on

Conference_Location

Harbin, Heilongjiang, China

Print_ISBN

978-1-61284-087-1

Type

conf

DOI

10.1109/EMEIT.2011.6023443

Filename

6023443