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IVRESS simulation of 4-legged walking robot
Simulation of 4-legged walking robot in IVRESS. Each leg has 3 link and 3 rotary actuators. Inverse kinematics is used to calculate the leg end point position to follow the robot walking gait. A balance controller is used to maintain the robot attitude during walking. Steering is controlled by adjusting the step length on the left and right sides of the robot.
Simulation Examples: Video Player
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