DocumentCode
3444934
Title
The OpenGL and Ginac based approach to quadruped robot gait simulation system
Author
Song, Hongjun ; Rong, Xuewen ; Li, Yibin ; Ruan, Jiuhong
Author_Institution
Sch. of Control Sci. & Eng., Shandong Univ., Jinan, China
Volume
3
fYear
2010
fDate
29-31 Oct. 2010
Firstpage
203
Lastpage
207
Abstract
The paper presents a dedicated simulation system named as TQRSS, it is based on OpenGL´s virtual reality(VR) and Ginac´s symbolic computation technologies. TQRSS is developed to serve the quadruped robot research. OpenGL is employed to present robot model and gait. Symbolic computation makes it possible online robot gait planning and parameter adjustion. The paper also presents Taishan quadruped robot´s kinematics analysis.
Keywords
gait analysis; legged locomotion; robot kinematics; virtual reality; Ginac; OpenGL; TQRSS; dedicated simulation system; kinematics analysis; quadruped robot gait simulation system; robot gait planning; symbolic computation technologies; virtual reality; Computational modeling; Heuristic algorithms; Planning; Robot kinematics; Servers; Ginac; OpenGL; gait simulation; quadruped robot; symbolic computation;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Computing and Intelligent Systems (ICIS), 2010 IEEE International Conference on
Conference_Location
Xiamen
Print_ISBN
978-1-4244-6582-8
Type
conf
DOI
10.1109/ICICISYS.2010.5658562
Filename
5658562
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