DocumentCode
651062
Title
Inverse kinematics for control of JINPOONG
Author
Jin Tak Kim ; Jung San Cho ; Byung Yun Park ; Sangdeok Park
Author_Institution
Div. of Appl. Robot Technol., Korea Inst. of Ind. Technol., Ansan, South Korea
fYear
2013
fDate
Oct. 30 2013-Nov. 2 2013
Firstpage
470
Lastpage
472
Abstract
JINPOONG is a platform that has been developed in order to move an uneven terrain as quadrupeds. Each leg was designed to have 4 degrees of freedom to utilize a broad workspace. A solution of inverse kinematics of this system was found out using the closed form solution, considering motion control of JINPOONG. Therefore, this paper explains the calculation method of the inverse kinematics for the motion control of JINPOONG. The performance of the calculation method was demonstrated in simulation using MATLAB.
Keywords
hydraulic actuators; legged locomotion; motion control; robot kinematics; JINPOONG; MATLAB; calculation method; hydraulically actuated quadruped robot; inverse kinematics; motion control; Inverse Kinematics; JINPOONG; Quadruped robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on
Conference_Location
Jeju
Print_ISBN
978-1-4799-1195-0
Type
conf
DOI
10.1109/URAI.2013.6677315
Filename
6677315
Link To Document