Aramies: a Four-legged Climbing and Walking Robot

This article describes the four-legged walking integration study ARAMIES and the developed control software approach. Furthermore, we analyze a first walking experiment carried out. We explain how CPG-like rhythmic motion patterns can be produced on the basis of Bezier-splines, resulting in a very simple and flexible way to produce complex walking trajectories which can be modulated in phase, frequency and amplitude. In addition, we describe briefly our new RT-micro-kernel concept for programming behavior-based robots which is used in the ARAMIES project. This microkernel combines properties of real-time operating systems with concept of behavior-based programming.