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

Year 2018, Volume: 7 Issue: 2, 35 - 46, 28.08.2018

Erdem Arslan Şahin Yıldırım

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

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