Publication detail

Extended kinematics for control of quadruped robot

GREPL, R.

English title

Extended kinematics for control of quadruped robot

Type

Paper in proceedings (conference paper)

Language

en

Original abstract

This paper deals with the extended kinematical model for quadruped mo-bile walking robot. The model has been built based on homogenous coor-dinates approach. The robot is comprehended as an open tree manipulator and therefore standard algorithms for forward and inverse kinematics can be employed. However, the inverse model named 12-18 works with the redundant manipulator structure and pseudoiverse of Jacobian matrix should be used. The inverse model 3-3 uses regular manipulator and al-lows separate positioning of each leg. After processing and simplification of the equations in Maple, the algorithms have been implemented in Mat-lab environment. The model automatically built in SimMechanics has been used for verification. Finally, the results have been tested using VRML visualization.

Keywords in English

walking mobile robot, kinematics, homogenous coordinates

Released

2007-09-01

Publisher

Springer

Location

Berlin

ISBN

978-3-540-73955-5

Book

Recent Advances in Mechatronics

Pages from–to

126–130

Pages count

5

BIBTEX


@inproceedings{BUT30623,
  author="Robert {Grepl}",
  title="Extended kinematics for control of quadruped robot",
  booktitle="Recent Advances in Mechatronics",
  year="2007",
  number="1",
  pages="126--130",
  publisher="Springer",
  address="Berlin",
  isbn="978-3-540-73955-5"
}