Publication detail

Extended kinematics for control of quadruped robot

GREPL, R.

Original Title

Extended kinematics for control of quadruped robot

English Title

Extended kinematics for control of quadruped robot

Type

conference paper

Language

en

Original Abstract

This paper deals with the extended kinematical model for quadruped mo-bile walking robot. The model has been built based on homogenous coor-dinates approach. The robot is comprehended as an open tree manipulator and therefore standard algorithms for forward and inverse kinematics can be employed. However, the inverse model named 12-18 works with the redundant manipulator structure and pseudoiverse of Jacobian matrix should be used. The inverse model 3-3 uses regular manipulator and al-lows separate positioning of each leg. After processing and simplification of the equations in Maple, the algorithms have been implemented in Mat-lab environment. The model automatically built in SimMechanics has been used for verification. Finally, the results have been tested using VRML visualization.

English abstract

This paper deals with the extended kinematical model for quadruped mo-bile walking robot. The model has been built based on homogenous coor-dinates approach. The robot is comprehended as an open tree manipulator and therefore standard algorithms for forward and inverse kinematics can be employed. However, the inverse model named 12-18 works with the redundant manipulator structure and pseudoiverse of Jacobian matrix should be used. The inverse model 3-3 uses regular manipulator and al-lows separate positioning of each leg. After processing and simplification of the equations in Maple, the algorithms have been implemented in Mat-lab environment. The model automatically built in SimMechanics has been used for verification. Finally, the results have been tested using VRML visualization.

Keywords

walking mobile robot, kinematics, homogenous coordinates

RIV year

2007

Released

01.09.2007

Publisher

Springer

Location

Berlin

ISBN

978-3-540-73955-5

Book

Recent Advances in Mechatronics

Edition number

1

Pages from

126

Pages to

130

Pages count

5

Documents

BibTex


@inproceedings{BUT30623,
  author="Robert {Grepl}",
  title="Extended kinematics for control of quadruped robot",
  annote="This paper deals with the extended kinematical model for quadruped mo-bile walking robot. The model has been built based on homogenous coor-dinates approach. The robot is comprehended as an open tree manipulator and therefore standard algorithms for forward and inverse kinematics can be employed. However, the inverse model named 12-18 works with the redundant manipulator structure and pseudoiverse of Jacobian matrix should be used. The inverse model 3-3 uses regular manipulator and al-lows separate positioning of each leg. After processing and simplification of the equations in Maple, the algorithms have been implemented in Mat-lab environment. The model automatically built in SimMechanics has been used for verification. Finally, the results have been tested using VRML visualization.",
  address="Springer",
  booktitle="Recent Advances in Mechatronics",
  chapter="30623",
  institution="Springer",
  year="2007",
  month="september",
  pages="126--130",
  publisher="Springer",
  type="conference paper"
}