An Interactive Software Environment for Gait Generation and Control Design of Sony Legged Robots

This paper presents a modular approach to the development of an interactive software environment for gait generation and control design of Sony legged robots. A number of modules have been developed for monitoring robot states, gait generation, control design and image processing. A dynamic model of the leg and wheel-like motion are proposed to combine both wheeled and legged properties to produce smooth quadruped motion and high flexibility. Experimental results are presented to show the feasibility of the system