Simulation, gait generation and embedded control of the Amru5 six-legged robot

Acta Montanistica Slovaca

关键词: robot;    dynamic simulation;    DC motor control;    decentralized control;    gait generation;   

DOI  :  

来源: DOAJ

【 摘 要 】

A rigid body dynamic model of a six-legged robot with 18 dofs has been developed, including gravity, contact interaction withthe ground, actuators and controllers. This model is used as a benchmark to develop a gait algorithm before implementingit on the robot. The latter computes the joint references which represent inputs of the controllers. Success of the real implementationproves the efficiency of the approach.

【 授权许可】

Unknown