Detail publikačního výsledku

Kinematic and Dynamic Modelling of Quadruped Walking Robot

GREPL, R.

Originální název

Kinematic and Dynamic Modelling of Quadruped Walking Robot

Anglický název

Kinematic and Dynamic Modelling of Quadruped Walking Robot

Druh

Stať ve sborníku v databázi WoS či Scopus

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 v angličtině

robot modelling, dynamics, kinematics, Matlab, quadruped

Autoři

GREPL, R.

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

Strany od

78

Strany počet

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",
  number="1",
  pages="4",
  publisher="Alexander Dubcek University of Trencin, Slovak University of Technology Bratislava",
  address="Trencianske Teplice, Slovakia",
  isbn="80-88914-92-2"
}