Development of Lower Computer for Hydraulically Actuated Quadruped Bionic Robots Based on DSP

Background: Hydraulic quadruped robots have broad application prospects. Control system design is the core content of robot design. However, the micro-controllers used in the past have shortcomings such as long sampling period and simple algorithm. Methods: An electric control system of the layered, distributed structure for hydraulically actuated quadruped robots is designed considering a dog as a bionic model. In order to improve the response time and the steady precision of the system at the same time, a Fuzzy-PID compound control algorithm is put forward in this paper. The hardware and software of the control system are designed. Results: The lower computer's control system for hydraulically actuated quadruped robots is developed using TMS320F28335 in series of DSP2000 as the core processor. Outside control circuit expands some external chips, such as AD7606, AD5754R, and PCA82C250, and a peripheral interface circuit is designed. Taking full advantage of the efficient processing power of the chip and the rich on-chip resources, the hardware circuit is simpler and reliable, and the software is also easy to implement. It is verified that the control system is rational and effective using experiments. Conclusions: The experimental results show that the control system designed in this paper is reasonable and can effectively control the joints of the quadruped robot. It has strong scalability and can meet the basic requirements of the autonomous mobile robot control system.