基于CAN总线的四足机器人控制系统
he control system of a quadruped robot based on CAN bus
介绍了一种四足步行机器人控制系统构成方案，即由一个主控制器和四个子控制器构成分布式控制系统，采用CAN总线进行数据通信。主控制器进行系统协调控制、步态规划运算，并向各子控制器发出运动指令；子控制器实现相应各条腿的三个关节运动控制，向主控制器传送各条腿的运动状态数据。控制器采用ARM9内核的32位微处理器芯片，控制软件开发基于WINCE5.0嵌入式操作系统和EVC软件平台。试验运行证明，该控制系统具有良好的可靠性，能较好地实现对机器人移动平台的实时控制。
kind of distributed control system is described for the quadruped robot, which includes one main controller and four sub-controllers, using CAN bus for data communication. The main controller is used for system harmonizing, gait programming and giving out moving instructions. Every Sub-controller is used for 3 coordinates moving control of each leg, and transfers the rea ltime datas to main controller. A 32bits MCU with ARM9 core is used for every controller, control programing is running on embedded OS(WinCE 5.0) with EVC programing platform. A series of testing experiments demonstrate the reliability and the real time character of this quadruped walking platform.
王红路、朱灯林、张奔、卞新高
自动化技术、自动化技术设备电子电路通信
四足机器人分布式控制系统N总线嵌入式操作系统
quadruped robotdistributed control systemCAN busembedded OS
王红路,朱灯林,张奔,卞新高.基于CAN总线的四足机器人控制系统[EB/OL].(2011-04-12)[2025-07-16].http://www.paper.edu.cn/releasepaper/content/201104-251.点此复制
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