Three-bus control system design for centipede-like robot

Centipede-like robot, which has high degree of freedom and similar body segments, proposes new requirements on real-time control for diverse gaits. To meet above requests, we have studied the movement characteristics of multi-legged creatures and found the features of gait periodic relay. Then the instruction-relay control scheme, the three-bus control system and its software algorithms were designed. In our experiments, with the designed control system, different gaits of robot could be switched flexibly and the phase difference between body sections could be changed by altering relay time. As a whole, this control system could accomplish the requested control task and reasonably simplify the gait control algorithms and procedures.