@inproceedings{eac68f2613d94b0aa50326cb05c5ed8f,
title = "Determination of center of gravity location and ground reaction forces for 4-legged walking robot",
abstract = "There is kinematics analysis, leading to determination of center of gravity location for 4-legged walking robot presented in the paper. Forward kinematics equations for all the legs was derived. The mappings from the local leg frames to global frame located in the chassis center of gravity were proposed and derived. The Quadrapod robot by Lynxmotion was considered as the base for all the computations. Matlab software was used for implementing, testing and verifying the elaborated model. Two methods, with different simplification assumptions, were proposed to find ground reaction forces distribution.",
keywords = "4-legged robot, center of gravity, foot force distribution, gait synthesis, kinematics, quadrupled robot, statically stable walking robot gait",
author = "Andrzej Globisz and Damian Krawczyk",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 11th France-Japan and 9th Europe-Asia Congress on Mechatronics, MECATRONICS 2016 / 17th International Conference on Research and Education in Mechatronics, REM 2016 ; Conference date: 15-06-2016 Through 17-06-2016",
year = "2016",
month = aug,
day = "17",
doi = "10.1109/MECATRONICS.2016.7547133",
language = "English",
series = "2016 11th France-Japan and 9th Europe-Asia Congress on Mechatronics, MECATRONICS 2016 / 17th International Conference on Research and Education in Mechatronics, REM 2016",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "158--163",
booktitle = "2016 11th France-Japan and 9th Europe-Asia Congress on Mechatronics, MECATRONICS 2016 / 17th International Conference on Research and Education in Mechatronics, REM 2016",
address = "United States",
}