A mathematical model for real-time control of the SILO4 leg

Abstract

Leg dynamics are often ignored in the real-time control of walking robots. The high gear reduction on actuators are the main reason. However, the use of gear reduction high enough to neglect leg dynamics yields additional non-desired effects. In order to make dynamic equations reflect the reality of the physical system, it is important to model the most important effects acting on it. In this paper we analyse the dynamics of the SILO4 leg, finding out the main sources of forces affecting the system. Then, we present a simple mathematical model that reflects the reality of the physical system which can be used by a real-time dynamic control system.