Title :
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
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;
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
DOI :
10.1109/EMEIT.2011.6023443
