ASGARD









This project has the main aim to develop an harware platform to  test new walking  algorithms and control architectures.
ASGARD is a quadruped robot furnisched of 12 degrees of freeedom, three for each legs.  The robot was realized using a modern CAD/CAM proces, the entire structure is realized in polycarbonate, a light and strong material.

The control system is composed of two different units:

The low level module: it consists in a on-board card equipped with a microcrontroller, this module is encharged to set the reference positions for the servomotors and to acquire sensors data.

The high level module: it consists in a Pc equipped with Matlab; on this module the high level alghoritms run in real time and send the proper commands directly to the low level module.

The two modules comunicate through a RS232 connection.



- For more information (italian)

- Movie 1