Research On Motion Coordination & Control System Of 8-legged Bionic Crab-liked Robot

The robot, which has advantages of high reliability, good adaptability, powerful performance, now is regarded as a kind of ideal platform for performing dangerous military mission. In addition, the research on amphibious military robot has become a hotspot in this area all over the world. The Research of this paper is supported by project of 'Biologically Inspired Crab-liked Amphibious Robot Study', which is funded by NSFC (National Natural Science Foundation of China). The main research of this paper concerns design of the coordinate control system.The author has deeply studied on multi-legged and bionics robot, especially the distributing multilevel real-time control system domestically and abroad. The author summarizes the main function of the coordinate control level and designs the control model based on TMS320VC5410 DSP.The scheme design of communication between coordinate control modular and task laying out modular and servo control modular is given.After comparing many kinds of gesture inclinometers, the HMR3300 inclinometer is applied in the control system of crab-liked robot and the scheme design of communication is given.Program which includes receiving control data from PC and feedback data from TMS320LF2407 and transmitting control data to TMS320LF2407 and feedback data to PC is written in assemble language.In this paper, the problems of walking leg trajectory planning, coordination of walking legs and gesture regulation are discussed. The algorithm program is written in C language and is applied to the control system of crab-liked robot.At last, we build the experimental platform of crab-liked robot walking leg. Through the experiment on the experimental platform the above techniques have been widely testified.