TY  - JOUR
T1  - Stable Motion Control of a Four Leg Robot
AU - Safaeifar, Hossein AU - Cheshmavar, Hossein 
JO  - Journal of Engineering and Applied Sciences
VL  - 11
IS  - 3
SP  - 352
EP  - 360
PY  - 2016
DA  - 2001/08/19
SN  - 1816-949x
DO  - jeasci.2016.352.360
UR  - https://makhillpublications.co/view-article.php?doi=jeasci.2016.352.360
KW  - 4 leg robots
KW  -MATLAB
KW  -controller
KW  -model
KW  -system
AB  - Today, most researchers in the field of robot research has focused on legged robots.The biggest
advantage of these robots is capability that can pass through areas have a lot of ups and downs like a man. The
aim of this study is simulation motion of four led robot using MATLAB. At the beginning, equations of
position, speed and acceleration is achieved in kinematic mode. Then, the mathematical model is formed by
obtaining kinetic equations. Then, using the obtained model, transfer function of system can be determined.
Using obtained transfer function, behavior of system can be analyzed and also design of controller can be
changed for improving behavior of system.
ER  -