ROBSIM - A robot simulation system

Wloka, Dieter W.

doi:10.1109/robot.1986.1087402

Cited by 8 publications

(2 citation statements)

References 3 publications

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“…The rotational angle about z axis is denoted as w. Since the leg is rotated by w about z axis, the position of the foot described in equations ( 1 ) and (3) must be modified. In this way, the kinematics of TTR type is governed by equations ( 5 ) and (6).…”

Section: (4)mentioning

confidence: 99%

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Development Of Software Environment For The Kinematic Analysis Of A Quadruped Robot

Choi¹,

Chung²,

Bien³

Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and

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A quadruped robot has been considered as a vehicle having large stability margin among walking robots and pantograph leg permits large stride while providing mutual independency between vertical and horizontal movements. A quadruped robot with pantograph legs, however, has complicated kinematic characteristics to be analyzed. In order to figure. out the kinematic characteristics of three dimensional legged motions of the walking robot, we present a modeling method for three different quadruped robots with pantograph legs, which have different joint driving mechanisms. And the kinematics, inverse kinematics and geomemcal description of constraints in pantograph mechanisms are considered for animation. Particularly, motions of legs for rotation and side walking are considered in graphic simulation. Multiple windows are used to achieve efficient man-machine communication. It is showed that the software environment can be used for the simulation of various algorithms related to walking robots.

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Section: (4)mentioning

confidence: 99%

“…In this context, environments for efficient interactive computer graphic simulation of robotic applications have been studied. [4][5][6] But for walking robots, many different aspects which are quite different from those of industrial robots should be considered.…”

Section: Introductionmentioning

confidence: 99%