针对传统人形机器人控制系统存在的软硬件模块化程度低、通讯非实时、控制功能有限的问题，在分析空间站对人形机器人控制系统功能需求的基础上，以四核嵌入式控制器为操作平台，搭建了基于EtherCAT总线的人形机器人分布式实验控制系统，实现了机器人任务规划与决策、数据管理和系统通信等功能，具有灵活高效的网络拓扑结构、模块化的软件架构。实验表明，该系统保证了信号采集的实时性和可靠性，控制的稳定性和高精度。%The control system of the traditional humanoid robot has many problems such as low de-gree of modularity in software and hardware, non-real-time communication and limited control func-tions.On the basis of analyzing the function requirements for humanoid robot system in the space station, a distributed control system based on EtherCAT bus for humanoid robot was put forward.It adopted the quad-core embedded controller as its operating platform and achieved the following func-tions:robot mission planning and decision-making, data management and system communication. The experiment results showed that the system could not only guarantee the real-time and reliability of the signal acquisition process, but also ensure the stability and high precision of the control sys-tem.
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