Germann, Daniel; Lenord, Oliver:
Modular Architecture of a Motion Controller for Quadrupeds Applied to the Walking Robots ALDURO and BISAM
In: the 5thInternational Conference on Climbing and Walking Robots CLAWAR2003 - Mechatronics Laboratory, University of Duisburg-Essen, Lotharstr. 1, D-47057 Duisburg, Germany, 2003, -
2003book article/chapter in collection
Mechanical Engineering
Title:
Modular Architecture of a Motion Controller for Quadrupeds Applied to the Walking Robots ALDURO and BISAM
Author:
Germann, Daniel;Lenord, Oliver
Appears in
the 5thInternational Conference on Climbing and Walking Robots CLAWAR2003
Place of publication:
Mechatronics Laboratory, University of Duisburg-Essen, Lotharstr. 1, D-47057 Duisburg, Germany
Year of publication:
2003
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 (as shown for Alduro and Bisam) and only a few modules need to be adapted according to the machine speci¯c topology.