步行机器人的递阶分布式计算机控制系统研究

RESEARCH ON HIERARCHICAL AND DISTRIBUTED CONTROL SYSTEMS FOR WALKING ROBOT

本文描述了一种四足步行机器人的递阶、分布式实时计算机控制系统,介绍了该系统的结构及实现方案,讨论了关节位置的开关控制问题及步行机器人的总体控制问题.最后论述了步行实验结果.

A hierarchical and distributed computer control system for a four-legged walking robot is described in thispaper.A new on-off control strategy for position control of pneumatic systems is introduced so that onlysolenoid valves are needed in pneumatic position control system of walking robot—ROBUG Ⅱ.Then a new hi-erarchical,distributed and loosely coupled multi-computer system for ROBUG Ⅱ is proposed and implement-ed.Experiments of walking are given finally,which indicate that ROBUG Ⅱis able to climb up smooth slopeabout 65°under the control of multi-computer system described in this paper.