Dynamic simulation of a four-legged gait

The authors deal with the behavior of a walking machine when the dynamic effects are considered. For this study a dynamic model of the RIMHO walking robot is used. The RIMHO is a four-legged robot developed for acquiring knowledge in walking machines. This model is derived considering the Lagrange-Euler approach. The main assumption is that the machine has massless legs, although some contribution of the legs to the body inertia is considered. Using this dynamic model the dynamic behavior of a wave-crab gait has been determined.<>