四足仿生机器人的分层实时控制系统

针对山东大学机器人研究中心自主研发的液压驱动四足仿生机器人对控制系统的实时性和稳定性要求,设计实现了具有3层结构的分层式控制系统,包括环境感知层、控制执行层和远程控制层,给出了控制系统总体设计方案。利用基于Socket的网络通信技术及基于管道和线程的进程间通信技术,完成了系统中实时数据通信;采用命名管道技术实现了传感器驱动模块挂载,利用MySql数据库技术实现了系统运行过程中的数据备份。通过挂载激光扫描仪数据采集子进程和Trot步态控制任务实验表明,该分层式控制系统的通信实时性良好。

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

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.