An embedded controller for the hydraulic walking robot WLBOT

This paper presents an embedded controller for the quadruped hydraulic robot WLBOT. First, we give an overview of a WLBOT system. Second, the hardware design and the software architecture of the embedded controller are introduced. The embedded controller takes charge of multi-sensor information processing and signal output of the servo valve, as well as receiving control command and sending processed information via Control Area Network (CAN) bus. What's more, the realization of the 2kHz high-speed control of the embedded controller is illustrated. Finally, the platform is constructed, in which the feasibility of the design and the validity of the control algorithm is verified. It shows that WLBOT can walk properly in a PID controller as expected.