Development of a quadruped robot model in simmechanicsTM

Thumbnail Image
Date
2013
Authors
Manuel Santos Silva
Barbosa,RS
Castro,TS
Journal Title
Journal ISSN
Volume Title
Publisher
Abstract
The presented work allowed the creation of a quadruped robot model (with flexible body, its legs and its hip and knee joints) in the virtual simulation program SimmechanicsTM. The final objective is to use this simulation model to optimize quadruped robot locomotion. The model developed accepts different gaits by direct introduction of the angular positions of the knee and hip joints. Feet-ground interaction was also modelled using a theoretic model described in the literature.
Description
Keywords
Citation