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

Authors : Erdem Arslan, Şahin Yildirim

Pages : 35-46

View : 19 | Download : 6

Publication Date : 2018-08-28

Article Type : Research

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