Forward Kinematics Analysis and 3-Dimmision Gait Simulation of a MiniQuad Walking Robot

Author

Wang, Xinjie ; Chen, Xuedong ; Jia, Wenchuan ; Sun, Yi ; Pu, Huayan

Author_Institution

Zhengzhou Inst. of Light Ind., Zhengzhou

fYear

2007

fDate

5-8 Aug. 2007

Firstpage

1932

Lastpage

1937

Abstract

Kinematics analysis is essential for robotic design and control. The forward kinematics of a multilegged walking robot is very complicated due to its complex mechanism and redundant actuation. In this paper, the forward kinematics of reptile-like multilegged robots is analyzed by considering the basic walking pattern with three supporting legs. The redundant joint variables are first derived and expressed in terms of the independent joint variables. Based on the redundant actuation analysis, the forward position, velocity, and acceleration are derived. The resultant formulas are verified through a numerical example and a simulation on a multilegged walking robot MiniQuad-I.

Keywords

control system analysis; control system synthesis; gait analysis; legged locomotion; manipulator kinematics; redundant manipulators; 3D gait simulation; MiniQuad-I reptile-like multilegged walking robot design; forward kinematics analysis; redundant actuation analysis; Acceleration; Analytical models; Leg; Legged locomotion; Manipulators; Mechatronics; Parallel robots; Robot kinematics; Robotics and automation; Service robots; Forward kinematics; Multilegged walking robot; Redundant DOF;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2007. ICMA 2007. International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4244-0828-3

Electronic_ISBN

978-1-4244-0828-3

Type

conf

DOI

10.1109/ICMA.2007.4303846

Filename

4303846