DocumentCode
2372103
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
fYear
2010
fDate
4-7 Aug. 2010
Firstpage
1553
Lastpage
1557
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation (ICMA), 2010 International Conference on
Conference_Location
Xi´an
ISSN
2152-7431
Print_ISBN
978-1-4244-5140-1
Electronic_ISBN
2152-7431
Type
conf
DOI
10.1109/ICMA.2010.5589168
Filename
5589168
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