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
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© 2003 Springer-Verlag Berlin Heidelberg
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Golubovic, D., Hu, H. (2003). An Interactive Software Environment for Gait Generation and Control Design of Sony Legged Robots. In: Kaminka, G.A., Lima, P.U., Rojas, R. (eds) RoboCup 2002: Robot Soccer World Cup VI. RoboCup 2002. Lecture Notes in Computer Science(), vol 2752. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-45135-8_22
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DOI: https://doi.org/10.1007/978-3-540-45135-8_22
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-40666-2
Online ISBN: 978-3-540-45135-8
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