Implementation of a hierarchical walk controller for the LAURON III hexapod robot

Abstract

A control structure for a hexapod walking robot was previously developed at the IRI and implemented in simulation, as well as in a small robot with two degree of freedom legs.This same structure is now being implemented in a robot with three d.o.f.legs (LAURON III, from FZI).The problems found during the implementation in the real robot are summarized here.The main aspects that required special attention were the implementation of subsumption-like modules in MCA2, the native control architecture of the robot, and the difficulties to achieve the coordination of the movements of legs with the available actuators.