ODE (Open Dynamics Engine) Based Walking Control Algorithm for Six Legged Robot

摘要

In the walking controlalgorithms, if standard gaits are used, many dynamic effects such as inertialeffects, external forces (gravity and friction) are neglected. Furthermore,neglecting dynamic effects does not have much effect on walking performance ifmasses of robot parts are not too large. On the other hand, as the size of therobot is increased, the masses of the parts will also increase, so dynamiceffects will not able to be ignored. Open Dynamics Engine (ODE) is the mostpopular rigid-body dynamics simulation algorithm in robotic applications. Theuse of ODE in a real-time model-based control allows the dynamic effects totake into account during the walk. In this study, an ODE based walking controlof a six-legged mobile robot was performed and the balancing performance for 5step linear trajectory of three different gaits (tripod-quadruped-tetrapod) hasgiven in results.