A Modular Controller Structure for Generic Quadrupeds Demonstrated on ALDURO
In: International Symposium on Robots and Automation, ISRA 2004
Institute for Mechatronics and System Dynamics University of Duisburg-Essen Duisburg, Germany (2004), S. -
Buchaufsatz / Kapitel / Fach: Maschinenbau
As a contribution to the gait generation and motion control of quadrupeds a concept has been formulated that in its modular structure can be easily adapted and extended. It is generally suitable for quadrupedal walking machines using statically stable gaits (as shown for the four-legged robot ALDURO) and only a few modules need to be adapted to the machine specific topology.