Kinetostatic analysis for compliant legged robots with ground contact forces evaluation

DOI10.1007/S11012-022-01555-ZMaRDI QIDQ6100372zbMATH OpenOpenAlexFDO

Authors Cristiane Pescador Tonetto, Henrique Simas

Publication date 22 June 2023

Published in Meccanica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11012-022-01555-z

zbMATH Keywords

compliance effectDavies methodfrictionnumerical simulationrobot equilibriumscrew theory

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

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Cites work

• An historical review of the theoretical development of rigid body displacements from Rodrigues parameters to the finite twist
• Force capabilities of redundantly-actuated parallel manipulators
• scientific article; zbMATH DE number 6684781 (Why is no real title available?)
• Impact forces and agility in legged robot locomotion
• Screw axis defined by Giulio Mozzi in 1763 and early studies on helicoidal motion

Cited in

(3)

• Dynamic analysis tool for legged robots
• Impact forces and agility in legged robot locomotion
• Multibody dynamic modeling and motion analysis of flexible robot considering contact

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