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A Distributed Motion Control System for a Legged Walking Robot

A technology of motion control system and walking robot, applied in general control system, control/adjustment system, computer control, etc., can solve the problems of low real-time performance and low reliability, achieve good real-time performance and reliability, and realize real-time Effects of data communication, efficient path planning, and precise control of joint motion in real time

Active Publication Date: 2016-06-29
HOHAI UNIV CHANGZHOU
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The centralized control system has the advantages of simple structure and convenient layout, but it also has the disadvantages of low real-time performance and low reliability.

Method used

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  • A Distributed Motion Control System for a Legged Walking Robot
  • A Distributed Motion Control System for a Legged Walking Robot
  • A Distributed Motion Control System for a Legged Walking Robot

Examples

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Embodiment Construction

[0021] The present invention will be specifically introduced below in conjunction with the accompanying drawings and specific embodiments.

[0022] refer to figure 1 As shown, a distributed motion control system of a legged walking robot includes: a communication module, a main controller and multiple sub-controllers; the main controller is connected to the communication module, and the communication module is connected to each sub-controller respectively. The present invention adopts a plurality of independent sub-controllers, and each sub-controller can be used to control a sub-system, and data exchange is performed between the sub-controllers and the main controller through a communication module. The footed walking robot of the present invention has multiple legs, each sub-controller is used to realize the motion parameter acquisition of one leg and the speed and position control of each degree of freedom motion, and the main controller is used to complete the robot's over...

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Abstract

The invention discloses a distributed motion control system of a legged walking robot, which is characterized in that it comprises: a communication module, a main controller and a plurality of sub-controllers; the main controller is connected to the communication module, and the communication module communicates with each sub-controller respectively connected. The distributed motion control system of a footed walking robot of the present invention has good real-time performance and reliability, and can realize real-time data communication in the footed walking robot, carry out effective path planning and real-time precise control of joint motion.

Description

technical field [0001] The invention relates to a motion control system of a footed walking robot, in particular to a distributed motion control system of a footed walking robot, belonging to the field of footed walking robots. Background technique [0002] The footed walking robot is a footed mobile mechanism established by imitating the natural footed animals. It has the advantages of simple structure, high stability, flexible movement and strong adaptability. It has a wide range of applications in disaster relief, military, exploration and other fields. prospect. [0003] The research on legged walking robots started in the 1960s. With the development of computer technology, microelectronics technology and automatic control technology, in the 1980s, more and more scientific research institutions and scholars began to set foot in the research field of walking robots, and the research hotspots mainly focused on walking robots. The complex terrain environment adapts to wal...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/042
Inventor 卞新高殷勇华汪赟朱灯林
Owner HOHAI UNIV CHANGZHOU
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