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