Single-Leg Structural Design and Foot Trajectory Planning for a Novel Bioinspired Quadruped Robot

Table 3

Main electrical components.

Name	Model	Main parameter	Function
Controller	PMAC CK3E-1310	16 axes	Bus control
Drive	Nanotec C5-E-2-21
DC servo motor	DB59M024035-KYAN	3000 r/min	Actuator
Slave station	NX-ECC203		EtherCAT bus controller
	NX-ID5342	16 ports	Zero-position signal and power supply under voltage signal input
	NX-ID4342	8 ports	Digital input standby module
	NX-OD4121	8 ports	Digital output standby module
	NX-AD4603	8 ports	Analog input standby module