Design of Single Leg Servo Controller for Hydraulic Quadruped Robot

摘要

According to the hydraulic quadruped robot structure and requirements for control performance, a single leg servo controller is designed and realized. The controller adopts position-type servo system and can achieve joint position servo and foot end coordinates servo. At the same time, the controller can connect to each other by CAN filed-bus, so it is easy to realize the paralleling of several controllers and it can meet the servo control requirements of monopodia, biped, quadruped and other multi-legged hydraulic robot. In order to set servo parameters and test the performance of the controller conveniently, a special software is developed. Experiments are done to test the static and dynamic performance of the controller and results of practical operation through SCalf hydraulic quadruped robot show that the controller can achieve the servo requirements in high load and dynamic conditions.