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Design and Control of the Quadruped Walking Robot ALDURO

Alduro is a four-legged walking robot. Its main goal is to operate in rugged terrain, translating the cartesian operator commands (joystick) into actuator space by coordinating the legs according to the users wish. At the same time static stability has to be guaranteed, obstacles have to be avoided and the posture of the main body kept. This requires an elaborate motion coordination and controller software. One possible way to organise this is described here: by isolating the physical robot from the motion generation (hardware abstraction layer), by using concurrent behaviours for motion generation and by strict modularisation of the software. The selected tools and realtime operating system are described in the last sections.