Proceedings of the IEEK Conference (대한전자공학회:학술대회논문집)

The Institute of Electronics and Information Engineers (대한전자공학회)
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The Efficient Motion Teaching Method of Quadruped Robot Using Graphic Simulator and Physics Engine

그래픽 시뮬레이터와 물리엔진을 이용한 효과적인 4족 보행로봇의 모션티칭 방법

  • 류지형 (전북대학교 전자정보공학부) ;
  • 김지홍 (전북대학교 제어계측공학부) ;
  • 이창구 (전북대학교 전자정보공학부) ;
  • 이수영 (서울산업대학교 전기공학과)
  • Published : 2009.05.07
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Abstract

A graphic simulator is efficient to see what will happen to the target robot. But it is not exactly same as the real world. Because there are so many physical laws to be concerned. In this paper, we propose a simulator with physics engine to create motions for quadruped robot. It is not only to show more real simulations but also to be more efficient for teaching motions to quadruped robot. To solve the quadruped robot's dynamics or inverse kinematics, It takes much times and hard effort. Using physics engine make it easy to setup motions without calculating inverse kinematics or dynamics.

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