Control system of a modular and reconfigurable multilegged robot

被引：3
作者：
Chen, Xuedong [1 ,2 ]
Pu, Huayan [1 ]
Wang, Xinjie [2 ]
Sun, Yi [1 ]
Jia, Wenchuan [1 ]
机构：
[1] Huazhong Univ Sci & Technol, State Key Lab Digital Mfg Equipment & Technol, Wuhan 430074, Peoples R China
[2] Zhengzhou Inst Light Ind, Zhengzhou 450002, Peoples R China
来源：
2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS | 2007年
基金：
中国国家自然科学基金;
关键词：
distributed control system; reconfigurable robot; multilegged robot; modular robot;
D O I：
10.1109/ICMA.2007.4303845
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Comparing to other robot systems, the modular reconfigurable walking robot has good adaptability to complex terrain, high flexibility and high extensibility. A distributed hierarchical control system of a modular walking robot is proposed and the prototype is built in this paper. The control system is composed of a PC-based computer, a body-level controller and several base-level controllers. The expansive software architecture featuring three-level hierarchy is proposed and offers support to the modularity of the control system. By the simulation and experiments, it is proved that the robot has the walking, object packing and reconfigurable abilities, and each joint module has the plug and play function.
引用
收藏
页码：1926 / +
页数：2
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