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 OpenGL’s virtual reality(VR) technology and Ginac’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 robot’s kinematics analysis is presented.