Title :
Forward Kinematics Analysis and 3-Dimmision Gait Simulation of a MiniQuad Walking Robot
Author :
Wang, Xinjie ; Chen, Xuedong ; Jia, Wenchuan ; Sun, Yi ; Pu, Huayan
Author_Institution :
Zhengzhou Inst. of Light Ind., Zhengzhou
Abstract :
Kinematics analysis is essential for robotic design and control. The forward kinematics of a multilegged walking robot is very complicated due to its complex mechanism and redundant actuation. In this paper, the forward kinematics of reptile-like multilegged robots is analyzed by considering the basic walking pattern with three supporting legs. The redundant joint variables are first derived and expressed in terms of the independent joint variables. Based on the redundant actuation analysis, the forward position, velocity, and acceleration are derived. The resultant formulas are verified through a numerical example and a simulation on a multilegged walking robot MiniQuad-I.
Keywords :
control system analysis; control system synthesis; gait analysis; legged locomotion; manipulator kinematics; redundant manipulators; 3D gait simulation; MiniQuad-I reptile-like multilegged walking robot design; forward kinematics analysis; redundant actuation analysis; Acceleration; Analytical models; Leg; Legged locomotion; Manipulators; Mechatronics; Parallel robots; Robot kinematics; Robotics and automation; Service robots; Forward kinematics; Multilegged walking robot; Redundant DOF;
Conference_Titel :
Mechatronics and Automation, 2007. ICMA 2007. International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-0828-3
Electronic_ISBN :
978-1-4244-0828-3
DOI :
10.1109/ICMA.2007.4303846
