DocumentCode
3152216
Title
Circular trajectory simulation analysis of a rotating four-legged robot
Author
Mahmoud, Ali ; Okada, Tokuji ; Shimizu, Tsuyoshi
Author_Institution
Grad. Sch., Niigata Univ., Niigata
fYear
2008
fDate
20-22 Aug. 2008
Firstpage
691
Lastpage
694
Abstract
This paper presents a C++ object oriented based simulator for a rotating four-legged mobile robot called PEOPLER. This simulator facilitates the analysis of the robot circular trajectory influenced by ground friction coefficient and payload operating on landing contacts. The results show reasonable robot motion behavior depending on different walking strides.
Keywords
C++ language; control engineering computing; legged locomotion; position control; C++ object oriented based simulator; circular trajectory simulation analysis; robot motion behavior; rotating four-legged robot; Analytical models; Robots; Circular trajectory; Frication coefficient; Legged robot; Steering control;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference, 2008
Conference_Location
Tokyo
Print_ISBN
978-4-907764-30-2
Electronic_ISBN
978-4-907764-29-6
Type
conf
DOI
10.1109/SICE.2008.4654744
Filename
4654744
Link To Document