Control system based on bionic four-foot moving, steering and dynamic following

The invention provides a control system based on bionic four-foot moving and steering dynamic following, which reads moving control information in real time through a CAN (controller area network) bus, analyzes moving and steering data, reads the current position of a bionic four-foot device and attitude information of each foot in real time, and controls the movement and steering of the bionic four-foot device. The programmable controller transmits the real-time information to the steering dynamic following control system for data processing, the calculated steering dynamic following data is sent to a circuit interface of the programmable controller, and a hydraulic proportional valve is driven through a circuit, so that the movement and posture of the supporting legs of the bionic four-foot moving device are controlled. And enabling the bionic four-foot moving device to move and run according to the posture pre-operated by the user. 本发明提出一种基于仿生式四足移动转向动态追随的控制系统，通过CAN总线实时读取移动控制信息，进行移动包括转向数据的解析，并实时读取仿生四足装置当前位置