• DocumentCode
    119925
  • Title

    Implementation of 3D ground contact model for uneven ground using SimMechanics

  • Author

    Burkus, Ervin ; Odry, Peter

  • Author_Institution
    Obuda Univ., Budapest, Hungary
  • fYear
    2014
  • fDate
    11-13 Sept. 2014
  • Firstpage
    131
  • Lastpage
    135
  • Abstract
    Robotic simulations can be carried out using several goal oriented programs still researchers prefer to use the limited SimMechanics environment because of its popularity in the scientific community. One big disadvantage of SimMechanics is that only fixed ground contacts can be realized with its toolboxes, while mobil robotics projects require a variable ground contact. The aim of this paper is to introduce a SimMechanics model of a 3D ground contact intended to be used with uneven ground.
  • Keywords
    control system analysis computing; mechanical contact; robot kinematics; 3D ground contact model; SimMechanics; robotic simulation environments; uneven ground; Friction; Legged locomotion; Mathematical model; Solid modeling; Springs;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Systems and Informatics (SISY), 2014 IEEE 12th International Symposium on
  • Conference_Location
    Subotica
  • Type

    conf

  • DOI
    10.1109/SISY.2014.6923572
  • Filename
    6923572
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=119925