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Simulation, gait generation and embedded control of the Amru5 six-legged robot
A rigid body dynamic model of a six-legged robot with 18 dofs has been developed, including gravity, contact interaction withthe ground, actuators and controllers. This model is used as a benchmark to develop a gait algorithm before implementingit on the robot. The latter computes the joint references which represent inputs of the controllers. Success of the real implementationproves the efficiency of the approach.
Simulation, gait generation and embedded control of the Amru5 six-legged robot
A rigid body dynamic model of a six-legged robot with 18 dofs has been developed, including gravity, contact interaction withthe ground, actuators and controllers. This model is used as a benchmark to develop a gait algorithm before implementingit on the robot. The latter computes the joint references which represent inputs of the controllers. Success of the real implementationproves the efficiency of the approach.
Simulation, gait generation and embedded control of the Amru5 six-legged robot
Quentin Bombled (author) / Olivier Verlinden (author)
2010
Article (Journal)
Electronic Resource
Unknown
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