The utility model relates to a control system of a biped robot walking mechanism, the component controlled by the control system comprises the 12 free angel biped robot walking mechanism, the biped robot comprises a trunk and the walking mechanism which comprises a hip part, a left thigh, a right thigh, a left calf, a right calf, a left foot, a right foot and 12 joints used for connecting each part. The utility model is characterized in that control system comprises a master computer, a gait planning computer, a CAN network, a force sensor, an attitude sensor, a CAN interface card, a data collection card, 12 joint controllers and 12 limit switches. The utility model can realize the accurate control of each joint of the biped robot walking mechanism and can realize more actions imitating people; and the basic actions comprises forward moving, back moving, turning, squat/standing up, going upstairs and slopes, and the like.
Control system for two feet robot walking mechanism