Control System Design for the Quadruped Walking Platform TITAN-VIII

抄録

This paper presents the newly-designed control system of the quadruped walking robot TITAN-VIII, including the control hardware and software. The system is built based on distributed architecture. It possesses a host computer, a central MCU and four leg driving units. CAN bus is used for communication among these parts. A user interface runs on the host computer and sends commands to the central MCU. The central MCU parses the commands, generates the desired robot feet trajectories and sends them to each leg driving units. The leg driving units work to actuate the motors for robot joints. Effectiveness of the control system is demonstrated by performing the omini-directional trotting motion of the robot.