In many cases, a control system of a multijoint walking robot must be supirior to any control systems which control manipulators for supervising multiple actuators and sensors effectively.
In this study, a multijoint quadruped walking robot is constructed and a control system for better performance is proposed. To control a multijoint robot on the real time, the proposed control system has 3 DSPs as operators and the special chip as a controller for each actuator. Finally various experimental results show that the control system can be applied successively and guarantee the efficiency of the control system.
