Real-time quadruped robot control system based on Xenomai

The quadruped robots walk or run in a dynamic balance state, and this hold up high requirements to system real-time capability. This paper describes the design of a real-time control system for a quadruped robot and presents the detail of control system hardware and software. The control system includes a real-time controller based on Xenomai, an EtherCAT fieldbus system, hydraulic actuators and sensors. And to accomplish the leg movement control, this paper also solve the inverse kinematic of the legs' parallel mechanism.