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The Design and Implementation of Quadruped Robot Gait Simulation System

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4 Author(s)
Hongjun Song ; Adv. Vehicle & Robot Inst., Shandong Jiaotong Univ., Jinan, China ; Xuewen Rong ; Yibin Li ; Jiuhong Ruan

The paper presents a dedicated simulation system named as TQRSS, it is based on OpenGL's virtual reality(VR) technology and Ginac's symbolic computation technology. TQRSS is developed to serve the quadruped robot gait research. C++/OpenGL is employed to present robot model and gait. Symbolic computation makes it possible on-line planning and help concetrate on robot gait planning and parameter adjustion. The Taishan quadruped robot's kinematics analysis is presented.

Published in:

Manufacturing Automation (ICMA), 2010 International Conference on

Date of Conference:

13-15 Dec. 2010