A SIMPLE AND EFFICIENT CONTROL ARCHITECTURE FOR WALKING ROBOTS - Application to AMRU5

Q. Bombled, O. Verlinden, M. Bagein, P. Manneback

Abstract

A decentralized control architecture has been developed on the walking machine AMRU5. The vehicle is actuated by 18 DC motors, which have to be highly synchronized to produce a smooth motion of the robot body. Each leg has 3 motors driven by a microcontroller. The six microcontrollers communicate with a PC running real-time Linux which manages the feet motion generation to produce the desired gait. The complete control chain has been developed using standard freely available C tools.

References

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Paper Citation


in Harvard Style

Bombled Q., Verlinden O., Bagein M. and Manneback P. (2011). A SIMPLE AND EFFICIENT CONTROL ARCHITECTURE FOR WALKING ROBOTS - Application to AMRU5 . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 277-280. DOI: 10.5220/0003404802770280


in Bibtex Style

@conference{icinco11,
author={Q. Bombled and O. Verlinden and M. Bagein and P. Manneback},
title={A SIMPLE AND EFFICIENT CONTROL ARCHITECTURE FOR WALKING ROBOTS - Application to AMRU5},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={277-280},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003404802770280},
isbn={978-989-8425-75-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A SIMPLE AND EFFICIENT CONTROL ARCHITECTURE FOR WALKING ROBOTS - Application to AMRU5
SN - 978-989-8425-75-1
AU - Bombled Q.
AU - Verlinden O.
AU - Bagein M.
AU - Manneback P.
PY - 2011
SP - 277
EP - 280
DO - 10.5220/0003404802770280