Hiller, Manfred; Germann, D.; Morgado de Gois, J.A.:

Design and Control of a Quadruped Robot Walking in Unstructured Terrain

In: IEEE, conference on Control Applications (CCA) 2004
Institute of Mechatronics University of Duisburg-Essen D-47057 Duisburg, Germany (2004)
Buchaufsatz / Kapitel / Fach: Maschinenbau
Abstract:
All quadrupeds have to deal with the same
challenge of motion generation. Here, a general architecture
of a motion generator for statically stable gaits is proposed,
and, because of its modular structure, it can be easily
adapted to the needs of various four legged walking
machines. Encapsulated modules are arranged in a
hierarchical structure, where each one carries out a certain
task and communicates with the connected modules. The
structure can be divided into four main parts: interface to
the robot, motion generation, model-based controller and
sensor data processing, which uses fuzzy inference to carry
out the obstacle avoidance task.

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