Design and Implementation of Humanoid Robot Controller Based on CAN

摘要

Aiming at Humanoid Robot structure and requirement for control performance, this paper designs and realizes joint controller based on CAN, and structures an effective credible control system by connecting controllers, force sensors and harmonious level computer together. This paper includes mainly: overall structure of the system, design and implement of hardware and software, topology of control system, and bring forward some imaginations to enhance performance of the system.