Title :
The OpenGL and Ginac based approach to quadruped robot gait simulation system
Author :
Song, Hongjun ; Rong, Xuewen ; Li, Yibin ; Ruan, Jiuhong
Author_Institution :
Sch. of Control Sci. & Eng., Shandong Univ., Jinan, China
Abstract :
The paper presents a dedicated simulation system named as TQRSS, it is based on OpenGL´s virtual reality(VR) and Ginac´s symbolic computation technologies. TQRSS is developed to serve the quadruped robot research. OpenGL is employed to present robot model and gait. Symbolic computation makes it possible online robot gait planning and parameter adjustion. The paper also presents Taishan quadruped robot´s kinematics analysis.
Keywords :
gait analysis; legged locomotion; robot kinematics; virtual reality; Ginac; OpenGL; TQRSS; dedicated simulation system; kinematics analysis; quadruped robot gait simulation system; robot gait planning; symbolic computation technologies; virtual reality; Computational modeling; Heuristic algorithms; Planning; Robot kinematics; Servers; Ginac; OpenGL; gait simulation; quadruped robot; symbolic computation;
Conference_Titel :
Intelligent Computing and Intelligent Systems (ICIS), 2010 IEEE International Conference on
Conference_Location :
Xiamen
Print_ISBN :
978-1-4244-6582-8
DOI :
10.1109/ICICISYS.2010.5658562
