Hiller, Manfred; Germann, D.; Morgado de Gois, J.A.:
Design and Control of a Quadruped Robot Walking in Unstructured Terrain
In: IEEE, conference on Control Applications (CCA) 2004 - Institute of Mechatronics University of Duisburg-Essen D-47057 Duisburg, Germany, 2004
2004book article/chapter in collection
Mechanical Engineering
Title:
Design and Control of a Quadruped Robot Walking in Unstructured Terrain
Author:
Hiller, ManfredUDE
LSF ID
1048
Other
connected with university
;
Germann, D.;Morgado de Gois, J.A.

Abstract:

All quadrupeds have to deal with the same challenge of motion generation. Here, a general architecture of a motion generator for statically stable gaits is proposed, and, because of its modular structure, it can be easily adapted to the needs of various four legged walking machines. Encapsulated modules are arranged in a hierarchical structure, where each one carries out a certain task and communicates with the connected modules. The structure can be divided into four main parts: interface to the robot, motion generation, model-based controller and sensor data processing, which uses fuzzy inference to carry out the obstacle avoidance task.