Simulation, gait generation and embedded control of the Amru5 six-legged robot

Abstract

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.

Keywords

• robot
• dynamic simulation
• DC motor control
• decentralized control
• gait generation