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 referenc...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Technical University of Kosice
2010-06-01
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| Series: | Acta Montanistica Slovaca |
| Subjects: | |
| Online Access: | http://actamont.tuke.sk/pdf/2010/n1/4bombled.pdf |