Design and implementation of a control structure for a quadrupe robot

Quadruped robots have several potential advantages compared to wheeled and tracked ones. For example, they have better perfomance whenit comes to locomotion over difficult terrain. In this research the project focuses on the design and integration of several components to complete a control structure for a quadruped robot. Previous work includes the development of one of these components: the gait generator (van der Coelen. 2013). The gait generator calculates which leg should make a step at which point in time while the robot remains stable throughout the walking motion.