Publication detail

Kinematic and Dynamic Modelling of Quadruped Walking Robot

GREPL, R.

Original Title

Kinematic and Dynamic Modelling of Quadruped Walking Robot

English Title

Kinematic and Dynamic Modelling of Quadruped Walking Robot

Type

conference paper

Language

en

Original Abstract

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.

English abstract

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.

RIV year

2003

Released

18.06.2003

Publisher

Alexander Dubcek University of Trencin, Slovak University of Technology Bratislava

Location

Trencianske Teplice, Slovakia

ISBN

80-88914-92-2

Book

Proceedings of 6th International Symposium on Mechatronics

Edition number

1

Pages from

78

Pages to

81

Pages count

4

Documents

BibTex


@inproceedings{BUT7724,
  author="Robert {Grepl}",
  title="Kinematic and Dynamic Modelling of Quadruped Walking Robot",
  annote="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.",
  address="Alexander Dubcek University of Trencin, Slovak University of Technology Bratislava",
  booktitle="Proceedings of 6th International Symposium on Mechatronics",
  chapter="7724",
  institution="Alexander Dubcek University of Trencin, Slovak University of Technology Bratislava",
  year="2003",
  month="june",
  pages="78",
  publisher="Alexander Dubcek University of Trencin, Slovak University of Technology Bratislava",
  type="conference paper"
}