Modular Architecture of a Motion Controller for Quadrupeds Applied to the Walking Robots ALDURO and BISAM
Germann, Daniel; Lenord, Oliver
the 5thInternational Conference on Climbing and Walking Robots CLAWAR2003 - Mechatronics Laboratory, University of Duisburg-Essen, Lotharstr. 1, D-47057 Duisburg, Germany, 2003, -
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 (as shown for Alduro and Bisam) and only a few modules need to be adapted according to the machine speci¯c topology.