J. Możaryn, J. Klimaszewski, P. Kolodziejczyk, Dariusz Swieczkowski-Feiz, Pawel Wawrzynski
{"title":"Design process and experimental verification of the quadruped robot wave gait","authors":"J. Możaryn, J. Klimaszewski, P. Kolodziejczyk, Dariusz Swieczkowski-Feiz, Pawel Wawrzynski","doi":"10.1109/MMAR.2014.6957352","DOIUrl":null,"url":null,"abstract":"In this paper there is presented the design process and experimental verification of the quadruped robot wave gait. Mathematical model of a robot movement is a result of linking together derived leg movement equations with a scheme of their locomotion. The gait is designed and analysed based on two-step design procedure which consists of simulations using MSC Adams and Matlab environments and experimental verification using real quadruped robot.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MMAR.2014.6957352","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
Abstract
In this paper there is presented the design process and experimental verification of the quadruped robot wave gait. Mathematical model of a robot movement is a result of linking together derived leg movement equations with a scheme of their locomotion. The gait is designed and analysed based on two-step design procedure which consists of simulations using MSC Adams and Matlab environments and experimental verification using real quadruped robot.
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