The control of Dynamixel RX-28 based on VC++ for the locomotion of cockroach robot

Through designing a main controller based on the AVR microprocessor, this paper proposes an approach to realize RX-28 multi-Dynamixel control to replace with conventional motor control. In addition, the mechanism of data transmission is designed also in the main controller. Aiming at the shortcoming of Dynamixel RX-28 that cannot be online controlled, a control software is developed under the programming environment VC++, so that the cockroach robot can be actuated by Dynamixel RX-28 in joint space and task space. Finally, an experiment is designed to control the 2-DOF, and 3-DOF single-leg of a cockroach robot respectively. The result verifies that the cockroach robot based on the Dynamixel RX-28 is small in size, light in weight and high in control accuracy.