Open-source lower controller for twelve degrees of freedom hydraulic quadruped robot with distributed control scheme.

ABSTRACT: Nowadays, hydraulic quadruped robot shows high power density, good impact resistance and robustness in the research. The controller is the key to realize these features. This paper shows the design of an open-source single-leg controller for the hydraulic quadruped robot Spurlos using a distributed control scheme. The single-leg system of the hydraulic quadruped robot Spurlos contains three angle encoders, three servo valves and six pressure sensors, which has the same components as most single-leg systems. Through the chips designed in the controller, the signal can be received from the encoders and the sensors, meanwhile the signal can be delivered to the servo valves. The software part of the controller adopts the MBD (Model-Based Design) method, which can greatly improve the developmen

SUBMITTER: Fang L 

PROVIDER: S-EPMC9850034 | biostudies-literature | 2023 Mar

REPOSITORIES: biostudies-literature