Research On Motion Control System Of Multi-legged Roblt

The research is supported by project of "Research on the Multi-legged Bionic Crab-liked Robot's Walking Method of the Complex Topography" which is funded by NSFC(National Natural Seience Foundation of China). This article's objective is to research a control platform which can make the Multi-legged Bionic Crab-liked Robot adapt to complex topography.This paper's describe the three-level hierarchical control structure in detail, which includes hardware circuit, control system frame and the pivotal control algorithm. Both the planning layer and motion control of the control system use the hardware controller which use DSP as its core, and use the communications which base on the dual-port RAM as the information transforming platform. The drive control circuit of the execution layer use ATMEGA16 as its core. They communicate with motion control layer by a mode which combines RS485 bus with PWM signal. Position and velocity data can be sent to motor driver by PWM signal and command data can be exchanged on the RS485 bus.The paper have built single leg kinematics model in the software's algorithm, and gained the positive solution and inverse solution formulas which are fit for DSP calculation. Aiming at walking on the complex topography, the paper quantificationally put forward a feasible toe track curve planning method of single leg. This method can adjust joint rotation angle according to the ground's situation to keep the stability of the robot's walking on the uneven surface. Based on this method, the gait database was built, and was describled about its building method and application mode, whitch can avoid robot CPU's heavy computation from walking operation.At the end of this paper, we also discussed its disadvantage and the contents for the future research. We hope this research's results provide some help for multi-legged robot's deeply study and practical application.