Detail publikace

Kinematic and Dynamic Modelling of Quadruped Walking Robot

GREPL, R.

Anglický název

Kinematic and Dynamic Modelling of Quadruped Walking Robot

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

en

Originální abstrakt

This paper describes inverse dynamic and kinematic modelling of quadruped robot. Main motivation of presented work is searching for stable posture of robot standing on three legs and moving with fourth one. This stability model is required by gait learning procedures. Results for stability of one configuration of simplified quadruped are presented. Models are built using Matlab -SimMechanics without forming analytical model.

Anglický abstrakt

This paper describes inverse dynamic and kinematic modelling of quadruped robot. Main motivation of presented work is searching for stable posture of robot standing on three legs and moving with fourth one. This stability model is required by gait learning procedures. Results for stability of one configuration of simplified quadruped are presented. Models are built using Matlab -SimMechanics without forming analytical model.

Klíčová slova anglicky

robot modelling, dynamics, kinematics, Matlab, quadruped

Rok RIV

2003

Vydáno

18.06.2003

Nakladatel

Alexander Dubcek University of Trencin, Slovak University of Technology Bratislava

Místo

Trencianske Teplice, Slovakia

ISBN

80-88914-92-2

Kniha

Proceedings of 6th International Symposium on Mechatronics

Číslo edice

1

Počet stran

4

BIBTEX


@inproceedings{BUT7724,
  author="Robert {Grepl},
  title="Kinematic and Dynamic Modelling of Quadruped Walking Robot",
  booktitle="Proceedings of 6th International Symposium on Mechatronics",
  year="2003",
  month="June",
  publisher="Alexander Dubcek University of Trencin, Slovak University of Technology Bratislava",
  address="Trencianske Teplice, Slovakia",
  isbn="80-88914-92-2"
}