A Distributed Controller Design for a 4-legs Walking Robot

J.-I Tahara, E. Tanaka, and K. Tsuboi (Japan)


VSS, one-chip microprocessor, I2C bus, walking robot, distributed type controller


The authors developed a distributed type controller for a 4 legs walking robot. This controller has many features, that is, I2C bus network, VSS control, very small scale, and light weight. This control system is similar to biological control systems. The authors could easily implement to a walking robot which is similar to biological systems.

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