Germann, Daniel; Lenord, Oliver:
A Modular Controller Structure for Generic Quadrupeds Demonstrated on ALDURO
In: International Symposium on Robots and Automation, ISRA 2004 - Institute for Mechatronics and System Dynamics University of Duisburg-Essen Duisburg, Germany, 2004, -
2004book article/chapter in collection
Mechanical Engineering
Title:
A Modular Controller Structure for Generic Quadrupeds Demonstrated on ALDURO
Author:
Germann, Daniel;Lenord, Oliver
Appears in
International Symposium on Robots and Automation, ISRA 2004
Place of publication:
Institute for Mechatronics and System Dynamics University of Duisburg-Essen Duisburg, Germany
Year of publication:
2004
in:
-

Abstract:

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.