Year 2018, Volume 7, Issue 2, Pages 35 - 46 2018-08-28

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

Erdem ARSLAN [1] , Şahin Yıldırım [2]

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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.

ODE(Open Dynamics Engine), legged robot, walking control
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Subjects Science
Journal Section Articles
Authors

Author: Erdem ARSLAN
Country: Turkey


Author: Şahin Yıldırım (Primary Author)
Country: Turkey


Bibtex @research article { jnrs357081, journal = {Journal of New Results in Science}, issn = {}, eissn = {1304-7981}, address = {Gaziosmanpasa University}, year = {2018}, volume = {7}, pages = {35 - 46}, doi = {}, title = {ODE (Open Dynamics Engine) Based Walking Control Algorithm for Six Legged Robot}, key = {cite}, author = {ARSLAN, Erdem and Yıldırım, Şahin} }
APA ARSLAN, E , Yıldırım, Ş . (2018). ODE (Open Dynamics Engine) Based Walking Control Algorithm for Six Legged Robot. Journal of New Results in Science, 7 (2), 35-46. Retrieved from http://dergipark.org.tr/jnrs/issue/38950/357081
MLA ARSLAN, E , Yıldırım, Ş . "ODE (Open Dynamics Engine) Based Walking Control Algorithm for Six Legged Robot". Journal of New Results in Science 7 (2018): 35-46 <http://dergipark.org.tr/jnrs/issue/38950/357081>
Chicago ARSLAN, E , Yıldırım, Ş . "ODE (Open Dynamics Engine) Based Walking Control Algorithm for Six Legged Robot". Journal of New Results in Science 7 (2018): 35-46
RIS TY - JOUR T1 - ODE (Open Dynamics Engine) Based Walking Control Algorithm for Six Legged Robot AU - Erdem ARSLAN , Şahin Yıldırım Y1 - 2018 PY - 2018 N1 - DO - T2 - Journal of New Results in Science JF - Journal JO - JOR SP - 35 EP - 46 VL - 7 IS - 2 SN - -1304-7981 M3 - UR - Y2 - 2018 ER -
EndNote %0 Journal of New Results in Science ODE (Open Dynamics Engine) Based Walking Control Algorithm for Six Legged Robot %A Erdem ARSLAN , Şahin Yıldırım %T ODE (Open Dynamics Engine) Based Walking Control Algorithm for Six Legged Robot %D 2018 %J Journal of New Results in Science %P -1304-7981 %V 7 %N 2 %R %U
ISNAD ARSLAN, Erdem , Yıldırım, Şahin . "ODE (Open Dynamics Engine) Based Walking Control Algorithm for Six Legged Robot". Journal of New Results in Science 7 / 2 (August 2018): 35-46.