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, -
Buchaufsatz/Kapitel in Sammelwerk2004Maschinenbau
Titel:
A Modular Controller Structure for Generic Quadrupeds Demonstrated on ALDURO
Autor(in):
Germann, Daniel; Lenord, Oliver
Erscheinungsjahr
2004
Erschienen in:
Titel:
International Symposium on Robots and Automation, ISRA 2004
Erscheinungsort
Institute for Mechatronics and System Dynamics University of Duisburg-Essen Duisburg, Germany
Erscheinungsjahr
2004
in:
-

Abstract:

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.