Title :
Locomotion simulation of a quadruped robot on general level terrain
Author :
Al-Zaydi, Mohammed Yassir ; Amin, Shamsudin H M
Author_Institution :
Centre for AI & Robotics, Malaysia Teh. Univ., Johor Bahru, Malaysia
Abstract :
To design a quadruped mobile robot that has a capability to move on a general terrain, its motion on a specific terrain should be studied carefully. The level terrain is classified into three classes, horizontal, inclined and vertical terrain. Kinematics algorithms for modelling and simulating the robot locomotion on these three terrain classes are presented. The walking stable wave and the wall climbing gaits are simulated in 3-D graphics
Keywords :
digital simulation; engineering graphics; legged locomotion; mobile robots; robot kinematics; solid modelling; stability; 3D graphics; general level terrain; horizontal terrain; inclined terrain; kinematics algorithms; locomotion simulation; quadruped mobile robot; vertical terrain; walking stable wave; wall climbing gaits; Artificial intelligence; Graphics; Intelligent robots; Kinematics; Leg; Legged locomotion; Mathematical model; Mobile robots; Pressing; Vehicles;
Conference_Titel :
Intelligent Engineering Systems, 1997. INES '97. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Budapest
Print_ISBN :
0-7803-3627-5
DOI :
10.1109/INES.1997.632410
