An interactive software environment for gait generation and control design of Sony legged robots

Abstract

This paper presents a modular approach to the development of an interactive software environment for gait generation and control design of Sony legged robots. A number of modules have been developed for monitoring robot states, gait generation, control design and. image processing. A dynamic model of the leg and wheel-like motion are proposed to combine both wheeled and legged properties to produce smooth quadruped motion and high flexibility. Experimental results are presented to show the feasibility of the system © Springer-Verlag Berlin Heidelberg 2003.