Research On The Control System Of Quadruped Walking Robot Based On Android System And Embedded Linux

China is a mountainous country.Statistics show that 69% of China's area is convered by mountains,hills and plateaus.Ordinary wheeled or crawler-type mobile robots could not operate properly in such area.While quadrupeds such as goats or horses can move efficiently in mountainous area.Inspired by bionics,many countries in the world begin to study the technology of quadruped robots.At present,research of quadruped robots in China is still in the laboratory.The adaptive capacity of the robots as well as the stability and reliability of the control system is still weak.In this article,we delveloped a quadruped robot control system based on the project of China's Tewlfth Five-year Plan.The control system of the quadruped robot is divided into three parts: the on-board control system,the remote control system and the motion control system.In this article we focus on the reserarch and design of the on-board control system and the remote control system.The on-board control control system use S5PV210 as the master chip.Sensor singal collection and Enthernet communicate circuits are designed.An embedded Linux operating system is also transplanted into the control system for multi-task management.Sensor signal collection program,Enthernet communication service program and the interface program of motion controller are running on the embedded Linux operating system,which are the foundation of the on-board control system software.The remote control system is divided into the Android phone and the personal computer.These two parts are connected to the on-board control system via a wireless router.The Android app is developed in Java programming language,which has friendly user interface.Opeaters can give top level order to the robot using the phone.The PC software is developed using Visual Studio 2010,which is mainly used to debugging the gait.A 3D simulaiton model is running on that PC software.The model can reflect the realtime posture of the robot by continuously reading the data of the linear displacement sensors.The results of the experiments not only shows that the control system operates properly,but also prove that the whole robot system including the power system ande the hydraulic system work well.