The hierarchical-distributed control system of hydraulic walking robot WLBOT

In this paper, a hierarchical-distributed control system of WLBOT is proposed. The control system is divided into three layers, the decision-making layer, the coordination layer, and the executive layer. The decision-making layer realizes human-computer interactive display and motion control instructions sending. The coordination layer realizes data coordination and movement planning. The execution layer realizes joint angle control and data collection. The communication between layers is based on WIFI and CAN bus. The control system uses the model-based control method to plan the movement trajectory and control WLBOT moving. Finally, the hierarchical-distributed control system is tested on WLBOT. From the experimental results, the control system can control the WLBOT moving correctly, and each foot is following the corresponding planning trajectory.