Dynamic analysis tool for legged robots
The paper introduces a systematic approach for dealing with legged robot mechanisms. First, we briefly summarize basic mathematical tools for studying the dynamics of these multi-loop and parallel mechanisms by using a unified spatial formulation which is useful for computer algorithms. The dynamic behavior analysis is based on two stages. The first one deals with establishing the equations of motion of the whole mechanism, including leg tip impact effects and allowing us to solve the direct and inverse dynamic problems. The second concerns the feet-ground interaction which is one of the major problem in the context of dynamic simulation for walking devices. We focus on the contact phenomenon by introducing a general model for dynamic simulation of contacts between a walking robot and ground. Finally, some simulation results on biped robot are given.
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