Title :
Inverse kinematics for control of JINPOONG
Author :
Jin Tak Kim ; Jung San Cho ; Byung Yun Park ; Sangdeok Park
Author_Institution :
Div. of Appl. Robot Technol., Korea Inst. of Ind. Technol., Ansan, South Korea
fDate :
Oct. 30 2013-Nov. 2 2013
Abstract :
JINPOONG is a platform that has been developed in order to move an uneven terrain as quadrupeds. Each leg was designed to have 4 degrees of freedom to utilize a broad workspace. A solution of inverse kinematics of this system was found out using the closed form solution, considering motion control of JINPOONG. Therefore, this paper explains the calculation method of the inverse kinematics for the motion control of JINPOONG. The performance of the calculation method was demonstrated in simulation using MATLAB.
Keywords :
hydraulic actuators; legged locomotion; motion control; robot kinematics; JINPOONG; MATLAB; calculation method; hydraulically actuated quadruped robot; inverse kinematics; motion control; Inverse Kinematics; JINPOONG; Quadruped robot;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on
Conference_Location :
Jeju
Print_ISBN :
978-1-4799-1195-0
DOI :
10.1109/URAI.2013.6677315
