抄録
Control of multilegged robots requires usually complex system and many kinds of processing, because they have many DOF and are operated adaptively on complicated environment with sensors. In conventional robot control system, usually this processing had been implemented in one computer. However, considering the maintenance and scalability, it is not desirable to concentrate all processes on a huge single program. In this presentation, we introduce a general-purpose control system with hierarchical structure for multilegged robots. The control system consists of multiple computers connected via LAN. The detail of implemented system with a microcomputer and a PC and experimental results with one/four/six legged robot are shown.
