Open document
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General information |
| Author |
RunBin, Cai; YangZhen, Chen; Lin, Lang; Jian, Wang; Xu, Ma Hong |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
Design of redudant joints has been widely used
in quadruped robots, so new kinds of techniques for
sloving inverse kinematics are needed. In this paper we
propose a new control method called Time‐Pose control
method and choose the enhanced extended jacobian
matrix method for inverse kinematics. We deduce
extended jacobian matrix method again so that it can be
applicable for arbitrary joint length. It is argued that
because the method can generate close joint angle path.
With Time‐Pose control method, such kind of inverse
kinematics method has been used for trot gait on the flat
ground. Simulations and experiments are performed,
which prove the extended jacobian matrix method to be
realizable for the quadruped robot. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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