Add to ORKGThis paper describes a simulation model for a multilegged locomotion system with 3 dof legs and leg joint actuators having saturation. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. Moreover, the robot body is divided into several segments in order to emulate the behavior of an animal spine. A non-linear spring-dashpot system models the foot-ground interaction, being its parameters computed from studies on soil mechanics. To conclude, the performance of the developed model is evaluated through a set of experiments while the robot leg joints are controlled using a proportional and derivative algorithm.N/
Robots are time and effort saving devices. Over the years attempts have been made to build mobile ro...
Autonomous Animation and Control of Four-Legged Animals This paper develops a framework for the real...
Unstable legged robots fall over without active stabilization, typically by repositioning the feet t...
This paper describes a simulation model for a multi-legged locomotion system with joints at the legs...
In this chapter, we developed and investigated numerically a general kinematic model of a multi-legg...
A rigid body dynamic model of a six-legged robot with 18 dofs has been developed, including gravity,...
Bipedal robotics is a relatively new research area which is concerned with creating walking robots w...
A four degree of freedom leg for a walking robot has been modeled using Newton\u27s method. Unlike r...
In order to study the behavior and performance of a robot, building its simulation model is crucial...
The paper develops a systematic method for kinematics modeling of multi-legged robots for walking on...
This paper compares the performance of classical position PD algorithm with a cascade controller inv...
This paper presents a detailed dynamic modeling of realistic four-legged robot. The direct and inver...
This paper develops a framework for the realistic autonomous animation and motion control of fourleg...
This paper studies periodic gaits of multi-legged locomotion systems based on dynamic models. The p...
This thesis is about control and balance stability of leggedlocomotion. It also presents a combinati...
Robots are time and effort saving devices. Over the years attempts have been made to build mobile ro...
Autonomous Animation and Control of Four-Legged Animals This paper develops a framework for the real...
Unstable legged robots fall over without active stabilization, typically by repositioning the feet t...
This paper describes a simulation model for a multi-legged locomotion system with joints at the legs...
In this chapter, we developed and investigated numerically a general kinematic model of a multi-legg...
A rigid body dynamic model of a six-legged robot with 18 dofs has been developed, including gravity,...
Bipedal robotics is a relatively new research area which is concerned with creating walking robots w...
A four degree of freedom leg for a walking robot has been modeled using Newton\u27s method. Unlike r...
In order to study the behavior and performance of a robot, building its simulation model is crucial...
The paper develops a systematic method for kinematics modeling of multi-legged robots for walking on...
This paper compares the performance of classical position PD algorithm with a cascade controller inv...
This paper presents a detailed dynamic modeling of realistic four-legged robot. The direct and inver...
This paper develops a framework for the realistic autonomous animation and motion control of fourleg...
This paper studies periodic gaits of multi-legged locomotion systems based on dynamic models. The p...
This thesis is about control and balance stability of leggedlocomotion. It also presents a combinati...
Robots are time and effort saving devices. Over the years attempts have been made to build mobile ro...
Autonomous Animation and Control of Four-Legged Animals This paper develops a framework for the real...
Unstable legged robots fall over without active stabilization, typically by repositioning the feet t...