Development of SimuLink-Based Physical Experiment Platform for EtherCAT Bipedal Robots

Feng Yang, Hao Huang, Jinxin Xu, Hongrun Lu, Yizhuang Sun, Huibin Li, Xiaofeng Yang

Abstract: In order to run the robot simulation algorithms in Matlab on a physical robot, and to solve the communication and control of the bipedal robot algorithms and joints during real-time motion between them, recorded the translations in XYZ axes by means of an attitude sensor. And the force on the robot plantar foot during motion is recorded by a six-dimensional force sensor, which is used to determine whether there is a moment component in the local coordinate system of the plantar foot in any direction other than the z-axis. The EtherCAT Ethernet control automation technology is used as the basis of the system. EtherCAT Ethernet control automation technology as the basis, combined with Matlab's SimuLink Real-Time control technology, the 12-joint robot biped is unified for control. The 12-joint robot biped is controlled and managed in a unified way. The control management includes device communication, state control, motion control optimization, signal reading and feedback, processing and analysis, and so on. The robot kinematics and dynamics control algorithms are implemented to compare the angular velocity trajectories given by the algorithms with the actual positional velocity trajectories of the robot. By comparing the angular velocity trajectory given by the algorithm and the actual position and velocity trajectory of the robot, the usability and practicality of the experimental platform are verified.