Distributed control system of DC servomotors for six legged walking robot

The multi-layered drives control for walking robot is discussed. It is a six-legged robot with 18 DOF. There is one DC-Servomotor for each joint. Synchronization of drives is a matter as walking is performed in unpredictable environment, and under high measurement uncertainty. It is done through distributed control of the robot. Each leg has itpsilas separate controller. Leg controllers are connected to robot master controller. The master controller is responsible for communication between legs and host computer. The article also addresses sensing system issues for walking robot and control loops closed through these sensors.