This work presents a new improved six legged mobile robot "ANTON". Its mechanical structure, sensor system and control system are discussed in details. The hierarchically and modular build control algorithms are presented. The Software-in-the-Loop and Rapid Control Prototyping frameworks, which are used by robot development, are presented. An industrial Ethernet-based real-time communication protocol is introduced and the communication ability between the robot-side hardware and PC-side control system is investigated.
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