Simulation, gait generation and embedded control of the Amru5 six-legged robot
نویسندگان
چکیده
A rigid body dynamic model of a six-legged robot with 18 dofs has been developed, including gravity, contact interaction with the ground, actuators and controllers. This model is used as a benchmark to develop a gait algorithm before implementing it on the robot. The latter computes the joint references which represent inputs of the controllers. Success of the real implementation proves the efficiency of the approach.
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تاریخ انتشار 2010