A new path tracking method for quadruped robots: Weingarten map

M. K. Yalcin; Osman Darici; Hakan Temeltas

doi:10.1142/9789814329927_0083

A new path tracking method for quadruped robots: Weingarten map

M. K. Yalcin
, Osman Darici
, Hakan Temeltas

Kontrol ve Otomasyon Mühendisliği Bölümü

Istanbul Technical University
Scientific and Technological Research Council of Turkey

Araştırma çıktısı: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › Hakemli

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.

Orijinal dil	İngilizce
Ana bilgisayar yayını başlığı	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
Editörler	Hideo Fujimoto, Mohammad O. Tokhi, Hiromi Mochiyama, Gurvinder S. Virk
Yayınlayan	World Scientific
Sayfalar	672-679
Sayfa sayısı	8
ISBN (Basılı)	9789814327978
DOI'lar	https://doi.org/10.1142/9789814329927_0083
Yayın durumu	Yayınlandı - 2010
Etkinlik	13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010 - Nagoya, Japan Süre: 31 Ağu 2010 → 3 Eyl 2010

Yayın serisi

Adı	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

???event.eventtypes.event.conference???

???event.eventtypes.event.conference???	13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010
Ülke/Bölge	Japan
Şehir	Nagoya
Periyot	31/08/10 → 3/09/10

Bibliyografik not

Publisher Copyright:
© 2010 by World Scientific Publishing Co. Pte. Ltd.

Belgeye Erişim

10.1142/9789814329927_0083

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

Yalcin, M. K., Darici, O., & Temeltas, H. (2010). A new path tracking method for quadruped robots: Weingarten map. In H. Fujimoto, M. O. Tokhi, H. Mochiyama, & G. S. Virk (Eds.), 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 (pp. 672-679). (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). World Scientific. https://doi.org/10.1142/9789814329927_0083

Yalcin, M. K. ; Darici, Osman ; Temeltas, Hakan. / A new path tracking method for quadruped robots : Weingarten map. 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. editör / Hideo Fujimoto ; Mohammad O. Tokhi ; Hiromi Mochiyama ; Gurvinder S. Virk. World Scientific, 2010. pp. 672-679 (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).

@inproceedings{2231bfcef0bf443495202d89584254bd,

title = "A new path tracking method for quadruped robots: Weingarten map",

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.",

author = "Yalcin, \{M. K.\} and Osman Darici and Hakan Temeltas",

note = "Publisher Copyright: {\textcopyright} 2010 by World Scientific Publishing Co. Pte. Ltd.; 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010 ; Conference date: 31-08-2010 Through 03-09-2010",

year = "2010",

doi = "10.1142/9789814329927\_0083",

language = "English",

isbn = "9789814327978",

series = "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",

publisher = "World Scientific",

pages = "672--679",

editor = "Hideo Fujimoto and Tokhi, \{Mohammad O.\} and Hiromi Mochiyama and Virk, \{Gurvinder S.\}",

booktitle = "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",

address = "Singapore",

}

Yalcin, MK, Darici, O & Temeltas, H 2010, A new path tracking method for quadruped robots: Weingarten map. in H Fujimoto, MO Tokhi, H Mochiyama & GS Virk (eds), 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. 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, World Scientific, pp. 672-679, 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010, Nagoya, Japan, 31/08/10. https://doi.org/10.1142/9789814329927_0083

A new path tracking method for quadruped robots: Weingarten map. / Yalcin, M. K.; Darici, Osman; Temeltas, Hakan.
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. ed. / Hideo Fujimoto; Mohammad O. Tokhi; Hiromi Mochiyama; Gurvinder S. Virk. World Scientific, 2010. p. 672-679 (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).

Araştırma çıktısı: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › Hakemli

TY - GEN

T1 - A new path tracking method for quadruped robots

T2 - 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010

AU - Yalcin, M. K.

AU - Darici, Osman

AU - Temeltas, Hakan

PY - 2010

Y1 - 2010

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/85071843399

U2 - 10.1142/9789814329927_0083

DO - 10.1142/9789814329927_0083

M3 - Conference contribution

AN - SCOPUS:85071843399

SN - 9789814327978

T3 - 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

SP - 672

EP - 679

BT - 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

A2 - Fujimoto, Hideo

A2 - Tokhi, Mohammad O.

A2 - Mochiyama, Hiromi

A2 - Virk, Gurvinder S.

PB - World Scientific

Y2 - 31 August 2010 through 3 September 2010

ER -

Yalcin MK, Darici O, Temeltas H. A new path tracking method for quadruped robots: Weingarten map. In Fujimoto H, Tokhi MO, Mochiyama H, Virk GS, editörler, 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. World Scientific. 2010. p. 672-679. (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). doi: 10.1142/9789814329927_0083

A new path tracking method for quadruped robots: Weingarten map

Özet

Yayın serisi

???event.eventtypes.event.conference???

Bibliyografik not

Belgeye Erişim

Diğer Dosyalar ve Linkler

Parmak izi

Alıntı Yap