Germann, Daniel; Lenord, Oliver:

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