Abstract
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.
| Original language | English |
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| Title of host publication | Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010 |
| Editors | Hideo Fujimoto, Mohammad O. Tokhi, Hiromi Mochiyama, Gurvinder S. Virk |
| Publisher | World Scientific |
| Pages | 672-679 |
| Number of pages | 8 |
| ISBN (Print) | 9789814327978 |
| DOIs | |
| Publication status | Published - 2010 |
| Event | 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010 - Nagoya, Japan Duration: 31 Aug 2010 → 3 Sept 2010 |
Publication series
| Name | Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010 |
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Conference
| Conference | 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010 |
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| Country/Territory | Japan |
| City | Nagoya |
| Period | 31/08/10 → 3/09/10 |
Bibliographical note
Publisher Copyright:© 2010 by World Scientific Publishing Co. Pte. Ltd.