Study on Kinematics-Based Symbolic Computation–Driven Quadruped Robot Gait Simulation System

The paper presents a dedicated kinematics-based simulation system for quadruped robot gait study, named as TQRSS. The system employs Ginac’s symbolic computation technology, making it possible on-line planning and help concentrate on robot gait planning and parameter adjusting. The Taishan quadruped robot’s kinematics analysis is also presented.

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