The Design and Implementation of Quadruped Robot Gait Simulation System

摘要

The paper presents a dedicated simulation system named as TQRSS, it is based on OpenGLȁ9;s virtual reality(VR) technology and Ginacȁ9;s symbolic computation technology. TQRSS is developed to serve the quadruped robot gait research. C++/OpenGL is employed to present robot model and gait. Symbolic computation makes it possible on-line planning and help concetrate on robot gait planning and parameter adjustion. The Taishan quadruped robotȁ9;s kinematics analysis is presented.