Title :
The Design and Implementation of Quadruped Robot Gait Simulation System
Author :
Song, Hongjun ; Rong, Xuewen ; Li, Yibin ; Ruan, Jiuhong
Author_Institution :
Adv. Vehicle & Robot Inst., Shandong Jiaotong Univ., Jinan, China
Abstract :
The paper presents a dedicated simulation system named as TQRSS, it is based on OpenGL´s virtual reality(VR) technology and Ginac´s symbolic computation technology. TQRSS is developed to serve the quadruped robot gait research. C++/OpenGL is employed to present robot model and gait. Symbolic computation makes it possible on-line planning and help concetrate on robot gait planning and parameter adjustion. The Taishan quadruped robot´s kinematics analysis is presented.
Keywords :
C++ language; control engineering computing; gait analysis; legged locomotion; robot kinematics; symbol manipulation; virtual reality; C++ language; Ginac symbolic computation; Taishan quadruped robot kinematics; online planning; openGL virtual reality; quadruped robot gait simulation system; Ginac; biorobotics; kinematics and dynamics; quadruped robot; simulation; symbolic and algebraic manipulation;
Conference_Titel :
Manufacturing Automation (ICMA), 2010 International Conference on
Conference_Location :
Hong Kong
Print_ISBN :
978-1-4244-9018-9
Electronic_ISBN :
978-0-7695-4293-5
DOI :
10.1109/ICMA.2010.48
