Title :
3D simulation design based on openGL for four-legged robot
Author :
Ling, Qing-hua ; Meng, Max Q H ; Mei, Tao ; Lu, Haoran
Author_Institution :
Inst. of Intelligence Machines, Chinese Acad. of Sci., Beijing
Abstract :
This paper introduces and analyses a three dimensional real-time kinematic simulation system for four-legged robot. The effective method of constructing interface between 3D geometrical modeling software and simulation system in OpenGL is applied in the geometrical modeling module for the robot. The construction of kinematic model and the demonstration of animation are analyzed emphatically. Further more, the structure of the functional modules of simulation system is discussed in detail
Keywords :
control engineering computing; legged locomotion; robot kinematics; 3D geometrical modeling software; 3D simulation design; OpenGL; four-legged robot; three dimensional real-time kinematic simulation system; Animation; Cognitive robotics; Computational modeling; Computer graphics; Intelligent robots; Kinematics; Legged locomotion; Operating systems; Real time systems; Solid modeling;
Conference_Titel :
Robotics and Biomimetics (ROBIO). 2005 IEEE International Conference on
Conference_Location :
Shatin
Print_ISBN :
0-7803-9315-5
DOI :
10.1109/ROBIO.2005.246356
