Open Architecture Systems for MERO Walking Robots Control

  • Luige Vladareanu
  • Radu Munteanu
  • Adrian Curaj
  • Ion N. Ion
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 28)


The paper presents an Open Architecture system for the MERO walking modular robot, which is a robot on 3×6 degrees of freedom, autonomous, being able to interact with the environment. Starting from purpose kinematics and kinetostatics analysis the mathematic model of the inverted kinematics is determined for controlling the main trajectory that defines legs’ support and weigh centre positions. Related to this there is presented an Open Architecture system for the MERO robot position control in Cartesian coordinates through real time processing of the Jacobean matrix obtained out of the forward kinematics using the Denevit-Hartenberg method and calculating the Jacobean inverted matrix for feedback. The obtained results prove a significant reduction of the execution time for the real time control of MERO robot’s position in Cartesian coordinates and increased flexibility.


Jacobean Matrix Robot Control Angular Error Forward Kinematic Walking Robot 
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Copyright information

© Springer Science+Business Media, LLC 2009

Authors and Affiliations

  • Luige Vladareanu
    • 1
  • Radu Munteanu
    • 2
  • Adrian Curaj
    • 3
  • Ion N. Ion
    • 3
  1. 1.Institute of Solid MechanicsRomanian AcademyC-tin Mille 15Romania
  2. 2.Tehnical University of Cluj NapocaPolitehnica University of BucharestRomania
  3. 3.Institute of Solid MechanicsRomanian AcademyRomania

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