DISTRIBUTED MOTION CONTROL SYSTEM OF BIPED WALKINGROBOTS BASED ON SERCOS

The development of motion control systems of biped walking robots is reviewed in the paper, and a new kind of communication system-SERCOS is introduced. SERCOS can undertake real time and have high transmission speed. It is fit for the harmonious motion control of multiple axles and for realizing the distributed motion control system of biped walking robots. The design of that control system is made and its advantages are stated.