Kinematics analysis and simulation of quadruped robot

2011 ◽  
Author(s):  
Ni Meng ◽  
Wang Xiaodong
Keyword(s):  
Quadruped Robot ◽  
Kinematics Analysis

scholarly journals The Kinematics Analysis and Configuration Optimize of Quadruped Robot

2014 ◽  
Vol 6 (1) ◽  
pp. 1685-1690 ◽  
Author(s):  
Jinrong Zhang ◽  
Chenxi Wang ◽  
Jianhua Zhang
Keyword(s):  
Quadruped Robot ◽  
Kinematics Analysis

Kinematics Analysis and Simulation of a Quadruped Robot

2010 ◽  
Vol 26-28 ◽  
pp. 517-522 ◽  
Author(s):  
Xue Wen Rong ◽  
Yi Bin Li ◽  
Jiu Hong Ruan ◽  
Hong Jun Song
Keyword(s):  
Jacobian Matrix ◽  
Inverse Kinematic ◽  
Quadruped Robot ◽  
Transformation Matrix ◽  
Kinematics Analysis ◽  
Gait Simulation ◽  
Trot Gait ◽  
Hydraulic Servo

This paper presents the mechanical configuration of a quadruped robot with 4 rotary joints per leg firstly. All joints of the robot are activated by 16 identical hydraulic servo cylinders. Then it gives the forward and inverse kinematic equations of one leg with D-H transformation matrix. Furthermore, it also gives the jacobian matrix of the legs. The jacobian matrix establishes the relationships between the angle velocities of the 4 joints of the supporting leg and the moving velocity of the robot trunk. Lastly, a simple trot gait simulation is given based on MSC.ADAMS under the assumption that there are no slippages between the supporting feet and the ground.

Study on Kinematics-Based Symbolic Computation–Driven Quadruped Robot Gait Simulation System

2011 ◽  
Vol 480-481 ◽  
pp. 1469-1474
Author(s):  
Hong Jun Song ◽  
Xue Wen Rong ◽  
Yi Bin Li ◽  
Jiu Hong Ruan
Keyword(s):  
Symbolic Computation ◽  
Quadruped Robot ◽  
Simulation System ◽  
Kinematics Analysis ◽  
Line Planning ◽  
Gait Simulation ◽  
Gait Planning ◽  
On Line ◽  
Gait Study

The paper presents a dedicated kinematics-based simulation system for quadruped robot gait study, named as TQRSS. The system employs Ginac’s symbolic computation technology, making it possible on-line planning and help concentrate on robot gait planning and parameter adjusting. The Taishan quadruped robot’s kinematics analysis is also presented.

Kinematics Analysis of a Quadruped Robot

2010 ◽  
Vol 43 (18) ◽  
pp. 261-266 ◽  
Author(s):  
Alain Segundo Potts ◽  
Jose Jaime da Cruz
Keyword(s):  
Quadruped Robot ◽  
Kinematics Analysis

DESAIN SISTEM GERAK ROBOT QUADRUPED BERBASIS ARDUINO MENGGUNAKAN BLUEETOOTH HC-05

SIGMA TEKNIKA ◽  
2019 ◽  
Vol 2 (1) ◽  
pp. 20
Author(s):  
Endang Susanti
Keyword(s):  
Quadruped Robot

Robot adalah alat mekanik yang dapat melakukan tugas fisik baik melalui kontrol manusia maupun secara otomatis.. Salah satu contoh yaitu robot quadruped. Robot quadruped merupakan robot yang menirukan anatomi dari laba-laba dalam proses geraknya. Pada perancangan robot quadruped menggunakan module bluetooth hc 05 sebagai pengontrol geraknya yang disingkronkan dengan smartphone sebagai remote controlnya. Robot quadruped juga ditambahkan pengaman berupa sensor utrasonik apabila terputusnya koneksi smarphone dengan robot quadruped, sensor utrasonik mengambil peranan untuk menghindari halagan agar tidak terjadi kerusakan pada robot. Jarak maksimal dari module Bluetooth 10 meter, kettika lebih dari 10 meter, koneksi akan terputus dan tidak dapat tekoneksi kembali Kata kunci: Teknologi, robot, quadruped, module bluetooth, sensor ultrasonik.

Sign in / Sign up

Export Citation Format

Share Document