The SILO4 walking robot has been designed and built as a comparative test-bed for walking locomotion techniques. Different algorithms have been tested on this machine, especially those related with free gaits. Also, a human-machine interface (HMI) has been developed to facilitate the analysis and debugging of free gait algorithms, but it can be used as an operator interface of the SILO4 robot as well. This interface includes a met hod to select the machien trajectory, and a graphic representation used to get information about the robot and its environment. This paper, focused on the HMI, also presents the hardware and software control architectures of the SILO4 walking robot.
展开▼
