Detail publikačního výsledku

Extended kinematics for control of quadruped robot

GREPL, R.

Originální název

Extended kinematics for control of quadruped robot

Anglický název

Extended kinematics for control of quadruped robot

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova

walking mobile robot, kinematics, homogenous coordinates

Klíčová slova v angličtině

walking mobile robot, kinematics, homogenous coordinates

Autoři

GREPL, R.

Rok RIV

2010

Vydáno

01.09.2007

Nakladatel

Springer

Místo

Berlin

ISBN

978-3-540-73955-5

Kniha

Recent Advances in Mechatronics

Strany od

126

Strany do

130

Strany počet

5

BibTex

@inproceedings{BUT30623,
  author="Robert {Grepl}",
  title="Extended kinematics for control of quadruped robot",
  booktitle="Recent Advances in Mechatronics",
  year="2007",
  number="1",
  pages="126--130",
  publisher="Springer",
  address="Berlin",
  isbn="978-3-540-73955-5"
}