Germann, Daniel; Hiller, Manfred; Schramm, Dieter:

Design and Control of the Quadruped Walking Robot ALDURO

In: 22nd International Symposium on Automation an Robotics in Construcktion, ISARC 2005
University of Duisburg-Essen Chair of Mechatronics Lotharstraße 1, 47057 Duisburg, Germany (2005)
Buchaufsatz / Kapitel / Fach: Maschinenbau
Alduro is a four-legged walking robot. Its main
goal is to operate in rugged terrain, translating the cartesian
operator commands (joystick) into actuator space by coor-
dinating the legs according to the users wish. At the same
time static stability has to be guaranteed, obstacles have to
be avoided and the posture of the main body kept. This re-
quires an elaborate motion coordination and controller soft-
ware. One possible way to organise this is described here:
by isolating the physical robot from the motion generation
(hardware abstraction layer), by using concurrent behav-
iours for motion generation and by strict modularisation
of the software. The selected tools and realtime operating
system are described in the last sections.