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The OpenGL and Ginac based approach to quadruped robot gait simulation system

The paper presents a dedicated simulation system named as TQRSS, it is based on OpenGL's virtual reality(VR) and Ginac's symbolic computation technologies. TQRSS is developed to serve the quadruped robot research. OpenGL is employed to present robot model and gait. Symbolic computation makes it possible online robot gait planning and parameter adjustion. The paper also presents Taishan quadruped robot's kinematics analysis.