Controller for a four legged walking machine
نویسندگان
چکیده
In this paper we describe a controller for 4-legged robot locomotion implemented on a 4-legged walking machine. This controller uses a ring of coupled nonlinear oscillators. It is very e cient, needing no software and only a small number of components to guarantee coordination between the leg movements leading to walking. We explain how inter-leg coordination is achieved and we show data which con rms that, depending on the state of the controller, two di erent gaits can be observed in the resulting behaviour of the robot.
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