CAJ | 학술논문

根据液压仿生四足机器人的结构和工作特性，设计了一种分层和分布式系统相结合的控制系统架构，完成对机器人液压系统的伺服控制任务。该控制系统包含三个层级：决策层、步态生成层和伺服驱动层，层级之间相互协调，保障控制任务的圆满实现。实验结果表明，机器人能以给定步态顺畅运动，充分表明所研究的机器人液压伺服控制系统能满足四足机器人的运动要求。
근거액압방생사족궤기인적결구화공작특성，설계료일충분층화분포식계통상결합적공제계통가구，완성대궤기인액압계통적사복공제임무。해공제계통포함삼개층급：결책층、보태생성층화사복구동층，층급지간상호협조，보장공제임무적원만실현。실험결과표명，궤기인능이급정보태순창운동，충분표명소연구적궤기인액압사복공제계통능만족사족궤기인적운동요구。
According to structural and functional characteristics of the hydraulic bionic quadruped robot ,a new composite control struc‐ture ,which combines a distributed control system with a hierarchical control system ,is proposed to achieve robotic control task .This sys‐tem includes three layers such as decision controller ,gait planning layer and servo drive layer ,and the three layers are coordination to en‐sure the realization of the control task .Finally ,the experiment results indicate that the robot can smooth motion with given gait and the control system is able to meet the requirements of the quadruped robot .