Kinematic control for a quadruped robot using the Newton-Raphson method

The present work consisted of the implementation of a method for the solution of the inverse kinematic problem of a quadruped robot in four limbs with 3 degrees of freedom each. The proposed solution was supported by the application of an iterative method (Newton-Raphson) and special emphasis was pl...

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Detalles Bibliográficos
Autores principales: Orbegoso Moreno, Luis Antonio, Rodríguez, Cristian, Valverde, Edgar
Formato: Artículo publishedVersion
Lenguaje:Español
Publicado: FIUBA 2021
Materias:
direct kinematics
inverse kinematics
Newton-Raphson method
quadruped robot
cinemática directa
cinemática inversa
método de Newton-Raphson
robot cuadrúpedo
Acceso en línea:https://elektron.fi.uba.ar/elektron/article/view/125
https://repositoriouba.sisbi.uba.ar/gsdl/cgi-bin/library.cgi?a=d&c=elektron&d=125_oai
Aporte de:
Repositorio Digital de la Universidad de Buenos Aires (UBA) de Universidad de Buenos Aires

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