Analysis of Position and Angular Velocity of Four-Legged Robot (Mini-Bot) from Dynamic Model Using Euler-Lagrange Method

This paper presents the structure of the four-legged robot (Mini-Bot), dynamical equation of the multibody system, numerical results for the generation of the positions of each leg in the Cartesian coordinate system and angular velocities of each at different time and experimental results of locations for each links calculated in the Cartesian coordinate system. In this paper we used the Euler-Lagrange method to generate the dynamical equations of the Mini-Bot. The calculation of dynamic equations is performed using Mupad toolbox from MATLAB software. The experimental results and dynamical equations will be applied to the prototype of Mini-bot.