Modeling, simulation, and model-based control of the walking machine ALDURO

The system under investigation is the hydraulically driven autonomous large scale-combined legged and wheeled vehicle, the Anthropomorphically Legged and Wheeled Duisburg Robot (ALDURO). In this paper a complete mechatronic s imulation model, realized in the object-oriented programming language C++, is presented. It contains the mechanical system including an explicit solut ion of the kinematic loops, a model of the ground contact. and the dynamics of the complete hydraulic system, as well as a force-based motion control concept based on an exact input-output linearization using decentralized fo rce controllers. Some simulation results are shown to demonstrate the funct ion of the simulation model and the control concept presented.