About: Extended kinematics for control of quadruped robot

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	This paper deals with the extended kinematical model for quadruped mo-bile walking robot. The model has been built based on homogenous coor-dinates approach. The robot is comprehended as an open tree manipulator and therefore standard algorithms for forward and inverse kinematics can be employed. However, the inverse model named 12-18 works with the redundant manipulator structure and pseudoiverse of Jacobian matrix should be used. The inverse model 3-3 uses regular manipulator and al-lows separate positioning of each leg. After processing and simplification of the equations in Maple, the algorithms have been implemented in Mat-lab environment. The model automatically built in SimMechanics has been used for verification. Finally, the results have been tested using VRML visualization. This paper deals with the extended kinematical model for quadruped mo-bile walking robot. The model has been built based on homogenous coor-dinates approach. The robot is comprehended as an open tree manipulator and therefore standard algorithms for forward and inverse kinematics can be employed. However, the inverse model named 12-18 works with the redundant manipulator structure and pseudoiverse of Jacobian matrix should be used. The inverse model 3-3 uses regular manipulator and al-lows separate positioning of each leg. After processing and simplification of the equations in Maple, the algorithms have been implemented in Mat-lab environment. The model automatically built in SimMechanics has been used for verification. Finally, the results have been tested using VRML visualization. (en)
Title	Extended kinematics for control of quadruped robot Extended kinematics for control of quadruped robot (en)
skos:prefLabel	Extended kinematics for control of quadruped robot Extended kinematics for control of quadruped robot (en)
skos:notation	RIV/00216305:26210/07:PU86401!RIV10-MSM-26210___
http://linked.open...avai/riv/aktivita	Z
http://linked.open...avai/riv/aktivity	Z(MSM0021630518)
http://linked.open...vai/riv/dodaniDat	2010
http://linked.open...aciTvurceVysledku	Grepl, Robert
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	Vysoké učení technické v Brně / Fakulta strojního inženýrství
http://linked.open...dnocenehoVysledku	421429
http://linked.open...ai/riv/idVysledku	RIV/00216305:26210/07:PU86401
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	walking mobile robot, kinematics, homogenous coordinates (en)
http://linked.open.../riv/klicoveSlovo	kinematics walking mobile robot homogenous coordinates
http://linked.open...ontrolniKodProRIV	[65642D81AD1E]
http://linked.open...v/mistoKonaniAkce	Warsaw
http://linked.open...i/riv/mistoVydani	Berlin
http://linked.open...i/riv/nazevZdroje	Recent Advances in Mechatronics
http://linked.open...in/vavai/riv/obor	JD
http://linked.open...ichTvurcuVysledku	1 (xsd:int)
http://linked.open...cetTvurcuVysledku	1 (xsd:int)
http://linked.open...UplatneniVysledku	2007
http://linked.open...iv/tvurceVysledku	Grepl, Robert
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open...ain/vavai/riv/wos	000251017700026
http://linked.open.../riv/zahajeniAkce	2007-09-19 (xsd:date)
http://linked.open...n/vavai/riv/zamer	Simulation modelling of mechatronics systems
number of pages	5 (xsd:int)
http://purl.org/ne...btex#hasPublisher	Springer-Verlag
https://schema.org/isbn	978-3-540-73955-5
http://localhost/t...ganizacniJednotka	26210

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