Study on Kinematics-Based Symbolic Computation–Driven Quadruped Robot Gait Simulation System
The paper presents a dedicated kinematics-based simulation system for quadruped robot gait study, named as TQRSS. The system employs Ginac’s symbolic computation technology, making it possible on-line planning and help concentrate on robot gait planning and parameter adjusting. The Taishan quadruped robot’s kinematics analysis is also presented.
H. J. Song et al., "Study on Kinematics-Based Symbolic Computation–Driven Quadruped Robot Gait Simulation System", Key Engineering Materials, Vols. 480-481, pp. 1469-1474, 2011