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유창범(C. B. Yu),박검모(G. M. Park),김영배(Y.B. Kim) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월
In general, it is known that walking stability of a quadruped is determined by its COG(Center of Gravity). In this paper, in order to know whether our virtual quadruped robot is applicable to the real quadruped robot, we simulated our virtual model using the data from the real robot’s walking. We were able to evaluate the stride of quadruped based on direct and inverse kinematics and compared the stride of the simulation with real robot’s it. During the simulation we calculated the COG of the virtual model and evaluated the walking stability of real model.