Advanced kinematical model for experimental four legged walking robot

• Autorzy: Grepl R.
• Konferencja: International Seminar of Applied Mechanics (11 ; 08-10.06.2007 ; Wisła, Polska)
• Języki publikacji: EN

Abstrakty

EN

This paper briefly informs about the extended kinematical model built for quadruped mobile walking robot. The modelling is based on homogenous coordinates and positions and orients the body and legs of robot relatively to global coordinate system (world). After processing and simplification of the equations in Maple, the algorithms have been implemented in Matlab environment. The model automatically built in SimMechanics has been used for verification.

Słowa kluczowe

EN

kinematic model; mobile robot; MATLAB; SimMechanics

PL

model kinematyczny; robot mobilny; Matlab; SimMechanics

• Wydawca: Wydawnictwo Katedry Mechaniki Teoretycznej i Stosowanej
• Czasopismo: Modelling and Optimization of Physical Systems
• Rocznik: 2007
• Tom: z. 6
• Strony: 55--58
• Opis fizyczny: Bibliogr. 3 poz.

Twórcy

autor

Grepl R.

• Institute of Thermomechanics, Academy of Sciences of the CR, branch Brno, Czech Republic

Bibliografia

• [1] Buss, Samuel R.: Introduction to Inverse Kinematics with Jacobian Transpose, Pseudoinverse and Damped Least Squares methods, Department of Mathematics University of California, San Diego La Jolla, 2004.
• [2] Grepl, R.: Simulating modelling of quadruped robot gait control, Journal Engineering Mechanics, Volume 12, Nr. 4, ISSN 1210-2717, 2005.
• [3] Grepl, R.: Virtual prototype of autonomous locomotion walking robot, Simulation modelling of mechatronic systems I, ISSN 80-214-3144-X, pp. 29-37, 2005.