JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE) ›› 2012, Vol. 42 ›› Issue (4): 48-53.

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Hierarchical real-time control system for a hydraulically actuated quadruped bionic robot

MA Xin1, WANG Wei1, SONG Rui1, RONG Xue-wen1, MENG Jian1, LI Yi-bin1, WANG Bo2   

  1. 1. School of Control Science and Engineering, Shandong University, Jinan 250061, China;
    2. School of Machanical, Electrical and Information Engineering, Shandong University at Weihai, Weihai 264209, China
  • Received:2012-03-23 Online:2012-08-20 Published:2012-03-23

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Abstract:

In order to meet the requirement for real-time and stability, a hierarchical real-time control system was designed and realized for a hydraulically actuated quadruped bionic robot developed by the Centre for Robotics of Shandong University. The hierarchical control system included the environment perception layer, the control implementation layer and the remote control layer. The overall design of the control system was given. Socket-based network communication technology and pipe／thread-based interprocess communication technology were used for real-time communication. The named pipe technology was used for mounting sensor drive model. MySql database technology was used for data backup during the system operation. The experimental results of controlling data acquisition with a laser scanner and controlling a trot gait showed that the hierarchical control system could match the requirements of real-time.

Key words: hydraulically actuated, quadruped, bionics, robot, layer, real-time control system

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