Abstract This paper presents the RIMHO, a four-legged walking robot that has been developed as a test bed for getting expertise in legged locomotion, sensor integration, and navigation. A description of the test bed mechanism and mainly the software architecture are provided. This software architecture is separated into two levels: Machine Level and Control Station Level. A brief description of the Machine Level and a more detailed description of the Control Station Level are given. In particular the features of the gait controller, which is based on a wave-crab gait and designed to adapt the machine to a relatively smooth terrain, are shown.
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