Kinematics of legged and wheeled mobile robots: methods and case studies

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F08%3APU76543" target="_blank" >RIV/00216305:26210/08:PU76543 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Kinematics of legged and wheeled mobile robots: methods and case studies
Original language description
This paper deals with the solution of forward and inverse kinematics problem for legged and wheeled mobile robots. Numerical approach to inverse problem of open chain manipulator is discussed. Systematic approach for nonholonomic (wheeled) kinematics ispresented. The practical use of described methods is demonstrated on three case studies: a) four legged walking robot; b) biped robot; c) differentially driven wheeled robot.
Czech name
Kinematics of legged and wheeled mobile robots: methods and case studies
Czech description
This paper deals with the solution of forward and inverse kinematics problem for legged and wheeled mobile robots. Numerical approach to inverse problem of open chain manipulator is discussed. Systematic approach for nonholonomic (wheeled) kinematics ispresented. The practical use of described methods is demonstrated on three case studies: a) four legged walking robot; b) biped robot; c) differentially driven wheeled robot.

Project
<a href="/en/project/GP101%2F06%2FP108" target="_blank" >GP101/06/P108: Research of simulation and experimental modeling of walking robots dynamics</a><br>
Continuities
Z - Vyzkumny zamer (s odkazem do CEZ)

Publication year
2008
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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