Experimental Comparison of CLOS and C++ Implementations of An Object-OrientedGraphical Simulation of Walking Robot Kinematics

摘要

The ability to conduct research in the robotic field in new areas can beaccomplished safely and efficiently using computer graphic simulation. Object-oriented languages provide a powerful and flexible capability in defining rigid body manipulators that can be adapted in the use and design of many types of systems. The very nature of object-oriented programming permits modification and improvement of the code with ease. This thesis examines the major capabilities of object-oriented programming in conjunction with kinematic equations that simulate a six-legged walking robot. A comparison is conducted between programs using CLOS