Single leg compliant control of multilegged robot

The research of multilegged robot is one of hotspot in the field of robot technology. Multilegged robot has outstanding advantages such as simple structure and flexibility, high load capability and good stability. It has broad application prospects. In order to move in uneven and unknown environment and ensure flexibility of movement, each leg of Multilegged robot should be compliantly controlled by force feedback. A compliant control system having open architecture is presented in the paper. And also completed is the structural design of control system, built and developed are hardware and software system, and analyzed are experiment data. Experiments show that the system has good stability and dynamic performance.