All-terrain Eight-legged Robot Control System Based On Arm

This article introduces a control system for an all-terrain eight-legged robot. The robot is mainly composed of active force driven equipment, power divider, linked mechanism, adjustable leg mechanism disposed on both sides of the frame body. According to the robot’s control demands and structural features, this work studied a two hierarchical distributed control system scheme based on CAN-bus and ARM. At the same time, some related experimental tests and theoretical analysis were carried out.The control system consists of host controller and lower controller. The host controller is the robot’s tissue layer and coordination layer, while the lower controller is the specific behavior execution layer. The control system hardware is mainly composed of PC, fiber optic video transmission module, OK6410-A development board, CAN communication modules, foot joint controller, active force controller. The work of schematic design, PCB board design, production and debugging was accomplished according to the wanted functional indicators of various parts of the hardware. Hardware design is reliable and scalable, providing a hardware platform for subsequent software development and experiment.The control system software is mainly composed of CAN-driven design based on WinCE6.0, control terminal design, CAN communication design, active force servo motor control, sensor signal acquisition and processing, foot joint motor control, status display, study and simulation of global shortest path planning algorithm.In order to verify the feasibility and reliability of the control system, some related experimental tests were carried out based on an all-terrain eight-foot robot that the research group had already designed and assembled.Tests mainly included CAN communication, optical fiber communication, motor drive, sensing, robot motion control and GPS expansion interface,coordination control for foot joint. Experimental results showed that the control system well realized the motion control of the all-terrain eight-foot robot, verifying the feasibility of the control system scheme.Finally, the direction of the robot’s research that needs to be further studied is analyzed and prospected according to the experimental phenomena and results analysis.