Research Article
Design and Control of a Novel Single Leg Structure of Electrically Driven Quadruped Robot
Table 3
List of control system components.
| Name | Model | Main parameter | Function |
| Controller | PMAC CK3E-1310 | 16 axis | EtherCAT bus controller | Servo amplifier | Nanotec C5-E-2-21 | | | Driver | DB59M024035-KYAN | 3500 r/min | DC servo motor | Coupler | NX -ECC203 | | EtherCAT | Digital input module | NX-ID5342 | 16 | Zero position signal and power supply under voltage signal input | Digital input module | NX-ID4342 | 8 | Digital input standby module | Digital output module | NX-OD4121 | 8 | Digital output standby module | Analog input module | NX-AD4603 | 8 | Analog input standby module |
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