Title :
Gait planning and simulation of parallel walking robot
Author :
Mu, Dejun ; Luo, Erjuan ; Liu, Xiao ; Xue, Bowen ; Wang, Hongbo
Author_Institution :
Robot. Res. Center, Yanshan Univ., Qinhuangdao, China
Abstract :
In this paper, parallel mechanism is used as a walking leg of walking robot, simulation models are built based on virtual prototyping technology, gait planning and simulation of walking is given. By simulation examples of biped, quadruped walking robot, it proves that using parallel mechanism as a walking leg to achieve the walking motion of walking robot is reasonable, provides a theoretical basis for research and development of new walking robot and its control.
Keywords :
legged locomotion; motion control; path planning; robot dynamics; virtual prototyping; biped walking robot; gait planning; parallel walking robot; quadruped walking robot; virtual prototyping technology; walking simulation; Analytical models; Leg; Legged locomotion; Planning; Robot kinematics; Service robots; ADAMS Simulation; Gait planning; Parallel walking robot;
Conference_Titel :
Mechatronics and Automation (ICMA), 2010 International Conference on
Conference_Location :
Xi´an
Print_ISBN :
978-1-4244-5140-1
Electronic_ISBN :
2152-7431
DOI :
10.1109/ICMA.2010.5589168
