Design Of Distributed Concurrent State-aware System For The Quadruped Bionic Robot

Abstract:The quadruped bionic robot, which has a very broad application prospects, has good working ability and good environmental adaptability. The state-aware of the robot plays a very important role in robot motion control process, and its real-time performance and reliability of acquisition and processing have a direct impact on rationality, stability, the working ability and service life of the robot’s movement. It is of great significance to guarantee the real-time performance and reliability of state-aware in research and application of the quadruped bionic robot.There are many types of sensors for state-aware, and the performance of the robot movement is affected by the strong vibrations, electromagnetic interferences and other complex factors. Therefore, It is hard to meet the requirements of real-time and reliability by conventional methods. For the demands for quadruped bionic robot control, a distributed state-aware system structure is proposed based on CAN bus, and a high real-time and reliable core unit of state-aware system is designed which can provide the state information for robot planning and coordinating controller and environment sensing unit.First, the mechanical structure and power plant of the quadruped bionic robot is analyzed. And the composition of the robot control system is given, the effects and relations with other parts of the state-aware system are determined. The state information content is obtained. All above provides the basis for state-aware system design.Second, after analyzing the characteristics and layouts of the state information, the idea of distributed state-aware is proposed. According to the characteristics of bus used on the robots and amount of state information, the distributed state-aware system structure based on CAN bus is established and the sensors are configured with the signal conditioned.Third, according to the hardware functional requirements of state-aware system, the design techniques of existing hardwares are analyzed, the state-aware hardware structure of the core unit is established, the hardware implementation and reliability design method is studied, and the design and optimization of the system on the FPGA chip is explored.Finally, the state-aware simulation system is designed, and the performance of hardware of the state-aware system is tested. The experimental results and data analysis show that the designed hardware of state-aware system can gather and process state information of the robot reliably and in real-time.