LOCOMOTION
Design process and experimental verification of the quadruped robot wave gait
Jakub Możaryn, Jan Klimaszewski, Paweł Kołodziejczyk, Dariusz Swieczkowski-Feiz, Paweł Wawrzyński
- Year
- 2014
- Citations
- 3
Abstract
In this paper there is presented the design process and experimental verification of the quadruped robot wave gait. Mathematical model of a robot movement is a result of linking together derived leg movement equations with a scheme of their locomotion. The gait is designed and analysed based on two-step design procedure which consists of simulations using MSC Adams and Matlab environments and experimental verification using real quadruped robot.
Keywords
RobotGaitMATLABProcess (computing)Computer scienceSimulationRobot kinematicsScheme (mathematics)Gait analysisControl engineering
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