Kinematic and Dynamic Modeling of a Six Legged Robot
نویسندگان
چکیده
Legged vehicles can walk on rough and irregular surfaces with a high degree of softness . This is one of the main reasons why legged machines have received increasing attention by the scienti c community. This article presents a simulator for a six leg machine. Both kinematic and dynamic models are developed. Kinematic equations are derived with Denavit-Hartenberg method. The Free Body Diagram method, based on the dynamic equations of isolated rigid bodies, is used to overcome the di culties in dynamic modeling. Some results of simulation are presented.
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تاریخ انتشار 2004