@inproceedings{dd428ab575dd45b2bf57003d421dd3b7,
title = "Three-class control system based on CAN and wireless communication for wheeled foot quadruped robot HITAN-I",
abstract = "Aim to the application of robot in the fields of engineering exploration, anti-terror, military spy and other related areas, one robot with the structure of wheeled foot and quadruped is researched. In order to realize cableless features, the robot control system structure of three-class by use of multi controllers and drivers is designed based on CAN bus and wireless communication. Control unit for every leg of robot integrates one controller and four drivers, realizes openness of controller, decreases the volume and weight of robot, accordingly increases the speed and load limit of robot. Motors for joints control adopt control strategy of speed PID and moment peak control in position mode.",
keywords = "CAN bus, Control system, DSP, Quadruped robot",
author = "Pengfei Wang and Lining Sun",
year = "2005",
doi = "10.1109/ICMECH.2005.1529254",
language = "英语",
isbn = "0780389980",
series = "Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05",
pages = "208--213",
booktitle = "Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05",
note = "2005 IEEE International Conference on Mechatronics, ICM '05 ; Conference date: 10-07-2005 Through 12-07-2005",
}