3D simulation design based on openGL for four-legged robot

Abstract

This paper introduces and analyses a three dimensional real-time kinematic simulation system for four-legged robot. The effective method of constructing interface between 3D geometrical modeling software and simulation system in OpenGL is applied in the geometrical modeling module for the robot. The construction of kinematic model and the demonstration of animation are analyzed emphatically. Further more, the structure of the functional modules of simulation system is discussed in detail