IVRESS/WalkingRobot

IVRESS/WalkingRobot is a time-accurate finite element / multibody dynamics tool for predicting the dynamic response and mobility of legged walking robots, including bipedal and quadrupedal robots. IVRESS/WalkingRobot allows robot engineers to quickly build the robot model including legs, actuators, walking gait controller, and balance controller using an intuitive spreadsheet interface along with a graphical design environment. Simulations can be performed on complex topography terrains, including:

Hard polygonal or Cartesian grid terrains.
Deformable soft-soil Cartesian grid terrains.
Deformable soft-soil DEM (Discrete Element Model) terrains.

IVRESS/WalkingRobot Key Features

Template/spreadsheet (Excel) user-friendly interface.
Inverse kinematics for controlling the legs walking/running gait.
PID controllers controlling the robot joints.
Balance controller for bipedal and quadrupedal robots.
Any leg link can be flexible by modeling it using beam elements.
Typical output response quantities

- Position, velocity, acceleration, rotation, angular velocities, and angular accelerations for the robot frame or any leg body.
- Actuators torque/force.
- Foot contact force and slip.
Supported terrain types:
- Hard polygonal or Cartesian grid terrains.
- Deformable soft-soil Cartesian grid terrains.
- Deformable soft-soil DEM (Discrete Element Model) terrains.
Typical simulations:
- Steady state operation at any speed or a range of speeds.
- Maximum speed / acceleration on long/side slopes.
- Stability on slopes.
- Spin in place (90, 180, and 360 deg.)
- Following a curved path.
- Obstacle avoidance.
- Going over obstacles such as half-rounds.
- Going over rough RMS courses.
- Stopping from any walking speed.
- Water fording.