A Modular Controller Structure for Generic Quadrupeds Demonstrated on ALDURO
نویسندگان
چکیده
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 using statically stable gaits (as shown for the four-legged robot ALDURO) and only a few modules need to be adapted to the machine specific topology.
منابع مشابه
Modular Architecture of a Motion Controller for Quadrupeds Applied to the Walking Robots ALDURO and BISAM
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 specific topology.
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