A NEW PATH TRACKING METHOD FOR QUADRUPED ROBOTS: WEINGARTEN MAP


Yalcin M. K. , Darici O., Temeltaş H.

13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Nagoya, Japonya, 31 Ağustos - 03 Eylül 2010, ss.672-679 identifier

  • Basıldığı Şehir: Nagoya
  • Basıldığı Ülke: Japonya
  • Sayfa Sayıları: ss.672-679

Özet

This paper introduces a novel continuous path tracking method based on curvatures called Weingarten Maps and implementation of this method in a quadruped robot model. The path to be followed is assumed to be defined in Cartesian coordinates. The path tracking method is achieved both using open and closed loop algorithms. Quadruped gaits are generated due to instantaneous center of rotations of the sample path which are calculated using Weingarten Maps. Quadruped robot model is simulated in ADAMS cooperated with MATLAB/Simulink.