Design of Motion Control System for Quadruped Robot

DOI

10.2991/icmcm-16.2016.73How to use a DOI?

Keywords

Quadruped Robot; PWM; Steering Gear; Stability

Abstract

Quadruped robots process lower control complexity and structural redundancy compared with 6 or 8 feet robots. Quadruped robots can adapt to all kinds of known or unknown complex environment, such as in disaster rescue, aerospace, space exploration, pipeline surveying and exploration. It can meet all kinds of requirements. In this paper, master control chip ATMEGA16 is applied to produce certain types of PWM signal to control the steering gear and realize motion control of each joint of the quadruped robot. On the premise of guarantee the stability of the robot, a variety of common posture movements including lying down, walk, the trot, the gallop at low speed etc. are achieved.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Download article (PDF)

TY  - CONF
AU  - Caixia Wang
AU  - Zhiwen Zhou
AU  - Ling Guo
PY  - 2016/12
DA  - 2016/12
TI  - Design of Motion Control System for Quadruped Robot
BT  - Proceedings of the 2016 7th International Conference on Mechatronics, Control and Materials (ICMCM 2016)
PB  - Atlantis Press
SP  - 367
EP  - 371
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmcm-16.2016.73
DO  - 10.2991/icmcm-16.2016.73
ID  - Wang2016/12
ER  -