HT-1关节型四足机器人的计算机分层系统结构

Hierarchical Computer Architecture of HT-1 Direct Drived Joint Quadruped Robot

提出HT-1关节型四足机器人的计算机分层系统结构方案。第一层是开发层,用来开发四足机器人步态控制软件以及步态仿真系统;第二层是执行层,用来对四足机器人各关节进行并行控制,使机器人仅在执行层控制下行走。这对四足机器人专用计算机减轻重量,小型化具有重要意义。

This paper presented a hierarchical computer architecture scheme of HT-1 direct drived joint quadruped robot. The first is development level for developing the gait control program and the gait simulation system of the quadruped robot, and the second is execution level for concurrently controlling the joint of the quadruped robot so that the robot will walks under the control of the execution levcl It is very important for weight reducing and miniaturization of special quadruped robot.