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Physical Sciences and Mathematics Commons™
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Full-Text Articles in Physical Sciences and Mathematics
Locomotion Of A Running Quadruped Robotic System, Bradley Savon
Locomotion Of A Running Quadruped Robotic System, Bradley Savon
Undergraduate Journal of Mathematical Modeling: One + Two
Very little is known about the locomotion of quadruped robotic systems. In Latin, the term quadruped means 'having four feet'. The robotic system analyzed in this project was a software simulation program modeled after a horse. Simulation data was recorded to resolve the relationship between foot position and impulses required to accelerate or to decelerate the system while trotting. These sets of data were then analyzed in MATLAB to produce graphical representations which allowed for a better understanding of the robot's motion in the simulation environment. A function was fit to the graph of discrete data values measured in the …
Inverse Kinematics, Joel Sereno
Inverse Kinematics, Joel Sereno
Undergraduate Journal of Mathematical Modeling: One + Two
Inverse kinematics is the process of converting a Cartesian point in space into a set of joint angles to more efficiently move the end effector of a robot to a desired orientation. This project investigates the inverse kinematics of a robotic hand with fingers under various scenarios. Assuming the parameters of a provided robot, a general equation for the end effector point was calculated and used to plot the region of space that it can reach. Further, the benefits obtained from the addition of a prismatic joint versus an extra variable angle joint were considered. The results confirmed that having …
Robotics Potential Fields, Jordi Lucero
Robotics Potential Fields, Jordi Lucero
Undergraduate Journal of Mathematical Modeling: One + Two
This problem was to calculate the path a robot would take to navigate an obstacle field and get to its goal. Three obstacles were given as negative potential fields which the robot avoided, and a goal was given a positive potential field that attracted the robot. The robot decided each step based on its distance, angle, and influence from every object. After each step, the robot recalculated and determined its next step until it reached its goal. The robot's calculations and steps were simulated with Microsoft Excel.