1. MEDM Package For Walking Robot

2. General Outline Organized for any multi-legged robot Organized for any multi-legged robot Hexapod, Quadruped, Biped, … Explicit Dynamic Calculation Explicit Dynamic Calculation Gait Planning Gait Planning New algorithm for rhythmic gait Trajectory Planning Trajectory Planning Optimal trajectory subject to maximum speed respected to stable motion Graphical interface Graphical interface Graphical gait showing

3. Over 2500 lines code Organized simply to coordinate for any Walking Robot Compliance structure added Linked to Simmechanic toolbox Optimized trajectory added

4. Over 2500 lines code Minimum possible required codes added All modules writing as function for providence

5. Organized for any walking robot Simply coordinating for a arbitrary walking robot structure: Add how many legs with arbitrary configuration Replaced D-H recipes with new one Direct Configuration as become more user-friendly.

6. Dynamic Kinematic Dynamic Method Install coordinate frames Method Explicit Dynamic formulation: Based on Lagrangian formulation: Install coordinate frames Algorithm Explicit Dynamic

7. Install frame

8. Kinematic Formula Direct output to LaTeX

9. Kinematic Explicit Dynamic Input Output

11. Minimum slippage possibility Minimum slippage possibility Force distribution method Force distribution method Quadratic Programming Quadratic Programming Nimbly walking Nimbly walking Maximum Speed respected to stable and non-slipping motion Maximum Speed respected to stable and non-slipping motion Trajectory Planning

12. Stability MHS (Measure height of system) MHS (Measure height of system) ZMP (Zero moment point) ZMP (Zero moment point) FML (Force moment line) FML (Force moment line)

13. MHS Criterion

14. Graphical Gate Planning

15. Linked to Simmechanic

16. Conclusion MDEM suitable for: MDEM suitable for: modeling compliant walker robots modeling compliant walker robots Checked new stability criterions Checked new stability criterions Implemented new algorithm controls Implemented new algorithm controls Implemented online stability controls Implemented online stability controls

17. The End MEDM Package Type: Package Type: Package Version: 1.5.0v Version: 1.5.0v Product name: MEDM Product name: MEDM Date modified: 12/01/2009 Date modified: 12/01/2009