Quadruped Robot Simulation

In this paper,we studied the design and application of four-foot robot, realized a special four-foot robot simulation system.It includes six parts:l.Geometery modeling of four-foot robotTo deal with the modeling of four-foot robot.we designed the interface of 3-D geometry modeling.This interface could load the model made in AutoCAD or 3DS,etc,and convert it into the format which could be discriminated by OpenGL.So this system had the power to get the vivid 3-D robot geometry model from other softwares.2. Kinematics simulation of four-foot RobotBefore building the model of four-foot Robot kinematics simulation, the gaits of many kinds of movement,such as walk,turn and so on,should be well designed first.Then with the principle of machine obverse and inverse kinematics,we analysed the moving trace of four-foot robot's feet,body and knuckles,and so on,and built up the kinematics model of four-foot robot's all kinds of basic movement.3. Dynamics model of four-foot robotThe dynamics model of four-foot robot has been analyzed in detail with geometry and inertia parameter of pole.It's the base of future dynamics research.4. Apperceive model of four-foot robotThis part first analyzed the method to express and deal with environmental information,then put forward a geometry method to solve the problem of avoiding carriers in the moving.5.Control model of four-foot robotAccording to the simulation result ,the position control of four-foot robot was tried in this part.6.Result of four-foot robot simulationDuring the simulation experiment,we designed friendly user interface and built up an effective graphics display system .Then by using this graphics displaysystem,we got the expectant result...