This is an advanced example, showing the simulation of a walking exapod robot. Each leg is controled by two motors: one is the vertical linear actuator which pulls up the leg, and the other is the rotational motor which swings the hip of the leg. All motors work in mode 'imposed rotation as a function of time', and all linear actuators as well have their length as a function of time.

To impose the motion law for the 12 motors, we used 12 CHfunctions of type 'repeat', each repeating infinite times sub-CHfunctions of type 'sequence'. These 12 functions are not identical, in order to account for the gait phase displacement of the leg pairs.

Collision detection is used for feet-ground contacts. (The body and the small details of the robot are not used for collision detection: only legs are considered).

NB This is meant as an example: gait movements are a bit simplified for didactical purposes, while true walking robots are based on more advanced gait functionalities.

© DeltaKnowledge 2007