The OpenGL and Ginac based Approach to Quadruped Robot Gait Simulation System

摘要：

The paper presents a dedicated simulation system named as TQRSS,it is based on OpenGLs virtual reality(V R) and Ginacs symbolic computation technologies.YQRSS is developed to serve the quadruped robot research.OpenGL is employed to present robot model and gait.Symbolic computation makes it possible online robot gait planning and parameter adjustion.The paper also presents Taishan quadruped robots kinematics analysis.

关键词： quadruped robot OpenGL Ginac symbolic computation gait simulation

作者: Hongjun Song Xuewen Rong Yibin Li Jiuhong Ruan

作者单位: School of Control Science and Engineering Shandong University Jinan,China Advanced Vehicle and Robot Institute Shandong Jiaotong University Jinan,China

会议类型: 国际会议

会议名称: 2010 IEEE International Conference on Intelligent Computing and Intelligent Systems(2010 IEEE 智能计算与智能系统国际会议 ICIS 2010)

会议地点: 厦门

会议语种:英文

页码: 203-207

在线出版日期: 2010-10-29（万方平台首次上网日期，不代表论文的发表时间）