DocumentCode
565955
Title
Gait planning and simulation of the quadruped robot based on virtual prototype
Author
Wang, Shuhai ; Jin, Yi ; Liu, Xixia ; Liu, Weiping
Author_Institution
Department of Mechanical Engineering, Academy of Armored Force Engineering, Beijing 100072, China
fYear
2012
fDate
24-26 June 2012
Firstpage
316
Lastpage
321
Abstract
In this paper a quadruped robot model is created and a gait in straight line is programmed. By using the ADAMS virtual prototyping software, the process of straight-line gait is simulated and the instantaneous position of the feet end and the centroid are obtained. The influence of legs to center of mass in walking process is analyzed. By comparing with the simulation result, the truth of the program is validated, which offers an effective way to simulation of the quadruped robot further.
Keywords
gait; quadruped robot; virtual prototype;
fLanguage
English
Publisher
ieee
Conference_Titel
Modelling, Identification & Control (ICMIC), 2012 Proceedings of International Conference on
Conference_Location
Wuhan, Hubei, China
Print_ISBN
978-1-4673-1524-1
Type
conf
Filename
6260132
Link To Document