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Modeling, simulation, and model-based control of the walking machine ALDURO

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3 Author(s)
J. Muller ; Fachgebiet Mechatronik, Gerhard-Mercator-Univ., Duisburg, Germany ; M. Schneider ; M. Hiller

The system under investigation is the hydraulically driven autonomous large scale-combined legged and wheeled vehicle, the anthropomorphically legged and wheeled Duisburg robot (ALDURO). In this paper, a complete mechatronic simulation model, realized in the object-oriented programming language C++, is presented. It contains the mechanical system including an explicit solution of the kinematic loops, a model of the ground contact, and the dynamics of the complete hydraulic system, as well as a force-based motion control concept based on an exact input-output linearization using decentralized force controllers. Some simulation results are shown to demonstrate the function of the simulation model and the control concept presented

Published in:

IEEE/ASME Transactions on Mechatronics  (Volume:5 ,  Issue: 2 )