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
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;
Conference_Titel :
SICE Annual Conference, 2008
Conference_Location :
Tokyo
Print_ISBN :
978-4-907764-30-2
Electronic_ISBN :
978-4-907764-29-6
DOI :
10.1109/SICE.2008.4654744
