Distributed Control System Design for Quadruped Robot Based on CANopen Network

In this paper, a distributed motion control system is designed and achieved for the modular quadruped robot based on CANopen network. A communication network is built among modules and joints through CANopen network. Controllers and encoders are used to achieve closed-loop control belonging to speed and position for each joint and complete real-time multi-jointed linkage. Moreover, experimental results have proved the reliability and validity of this control system's hardware and software.