Control system design of a flexible quadruped robot based on cam drive

Abstract

It designed a control system quadruped robot based on cam control drive.The robot’s mechanical system was introduced briefly including the leg mechanism and the cam control drive mechanism.Then,three control parameters of the cam control drive mechanism were analyzed.Based on this work,the control system of the robot was designed.Especially,control systems of the stepped mechanism and the wheel mechanism based on 8051 MCU were analyzed detailed from the aspects of control theory,hardware structure and software structure.