Paper Details: Downloads: 891
Serial Number: P1130940886
Title: A 3D Simulator modelling for Hydraulic-drive Hexapod Walking Robot using 3D Geometric Technique with distributed Numerical Model
Authors: Hiroshi Ohroku and Addiw Irawan and K Nonami
Abstract: The verification of the walking algorithm with a large-scale robot like COMET-IV is attended with danger. Therefore, the verification by the simulation before confirming the operation with a real robot is very important. It is difficult to apply the control algorithm to the walking simulator because an actual robot control system contains the trajectory generation algorithm and the servo control algorithm. Then, authors aimed at improvement of the research efficiency, and developed the walking simulation system that used 3D geometric model of the robot. The walking simulation system is a control system-separating system. The control system development can be individually advanced by sharing the interface between two systems. In this paper, the walking simulation system of the robot that used 3D geometric model is described, and the result of the walking simulation and experiment with impedance control model is shown.
Keywords: 3D Geometric Model, Simulation Model, Force-based Walking, Legged Robot
Journal/Conference: International Journal of Automation, Robotics and Autonomous Systems
Volume: 9
Issue: 1
Submission Date: 9/29/2009 12:00:00 AM
Review Date: 9/30/2009 12:00:00 AM
Publishing Date: 10/13/2009 12:00:00 AM
Article Downloads: 891
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