莫松峰, 王占林. 步行机器人的递阶分布式计算机控制系统研究[J]. 机器人, 1992, 14(4): 25-28..
MO Songfeng, WANG Zhanlin. RESEARCH ON HIERARCHICAL AND DISTRIBUTED CONTROL SYSTEMS FOR WALKING ROBOT. ROBOT, 1992, 14(4): 25-28..
Abstract:A hierarchical and distributed computer control system for a four-legged walking robot is described in thispaper.A new on-off control strategy for position control of pneumatic systems is introduced so that onlysolenoid valves are needed in pneumatic position control system of walking robot—ROBUG Ⅱ.Then a new hi-erarchical,distributed and loosely coupled multi-computer system for ROBUG Ⅱ is proposed and implement-ed.Experiments of walking are given finally,which indicate that ROBUG Ⅱis able to climb up smooth slopeabout 65°under the control of multi-computer system described in this paper.
[1] 莫松峰.爬行机器人控制系统与Bang-Bang控制策略研究.北京航空航天大学博士学位论文,1990 [2] 莫松峰,王占林.一种新的气动位置系统开关控制方案研究.液压与气动.(待发表〕 [3] Brooks R A.A robot,that walks emergent behaviors from a carefully evolved network.Proc of IEEE Int Conf On Robotics and Automations,1989 [4] McGhee R B etal.A hierdrchically structured system for computer control of a hexpod walking machine.1984 [5] Herlin J P et al.Control structure and mechanical design of a four-legged walking machine.2nd Workshop of Int Advanced Robot Program,England,1988
[6] 刘多伟·基于Intel 8088微处理器和MCS-51单片机的4脚步行机器人分布式控制系统·机器人,1990;12(2):38-42