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FED-the free body diagram method. Kinematic and dynamic modeling of a six leg robot

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5 Author(s)
J. P. Barreto ; Inst. of Syst. & Robotics, Inst. Politecnico de Leiria, Leiria, Portugal ; A. Trigo ; P. Menezes ; J. Dias
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The free body diagram method, based on the dynamic equations of isolated rigid bodies, is used to overcome the difficulties in dynamic modeling of legged robots. The article presents a simulator for a six leg machine. Both kinematic and dynamic models are developed. Kinematic equations are derived with the Denavit-Hartenberg method. The free body diagram method is used to obtain the dynamic model. Some results of simulation are presented

Published in:

Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on

Date of Conference:

29 Jun-1 Jul 1998