IVRESS simulation of a wheeled vehicle driving on a soft-soil pit

IVRESS simulation of a tracked vehicle on soft soil

IVRESS simulation of an autonomous tracked vehicle in a team of 4 vehicles

IVRESS simulation of 2-legged walking robot on level terrain

IVRESS simulation of a 4-Legged walking robot on level terrain

IVRESS simulation of an autonomous 4-legged walking vehicle navigating on an off-road terrain

IVRESS simulation of a 4-legged Spot-type robot

IVRESS simulation of an autonomous walking vehicle navigating on an off-road terrain

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.