Generation, Evaluation and Visualization of Gait Patterns for Walking Machines

Frik, M.; Guddat, Martin; Karataş, Mümtaz; Losch, Daniel

doi:10.1016/s1474-6670(17)39207-8

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Freegait1

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2005

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“…In the first case sets of precalculated patterns for specific tasks, like "walk straight ahead" or "turn left", are optimised for some kind of criteria, as there are speed, stability and/or energy consumption [3]. The order in which the legs move is predefined as well as the parametrised foot trajectories.…”

Section: Freegaitmentioning

confidence: 99%

Design and Control of the Quadruped Walking Robot ALDURO

Germann¹,

Hiller²,

Schramm³

2005

Proceedings of the 22nd International Symposium on Automation and Robotics in Construction

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Abstract-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 coordinating 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 requires an elaborate motion coordination and controller software. One possible way to organise this is described here: by isolating the physical robot from the motion generation (hardware abstraction layer), by using concurrent behaviours for motion generation and by strict modularisation of the software. The selected tools and realtime operating system are described in the last sections.

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Section: Freegaitmentioning

confidence: 99%