Modeling, Simulation and Realization of an Autonomous Six Legged Walking Machine

摘要

Abstract In the following paper, the realization of a six legged walking machine is presented, using the benefits of a dynamic simulation of an abstracted model. In order to ensure the success of such a complex system, the suitability of single components (geometry, drives, gears, control algorithm) as well as of the entire system has to be examined in the pre-manufacturing phase. For that reason the walking machine is modeled as a multibody system and simulated in a developed program package, taking the dynamics of the drives into consideration. In a second part, the realization of the robot is described, presenting the used drives, sensors and control architecture.