DocumentCode
2532191
Title
FED-the free body diagram method. Kinematic and dynamic modeling of a six leg robot
Author
Barreto, João Pedro ; Trigo, A. ; Menezes, P. ; Dias, J. ; de Almeida, A.T.
Author_Institution
Inst. of Syst. & Robotics, Inst. Politecnico de Leiria, Leiria, Portugal
fYear
1998
fDate
29 Jun-1 Jul 1998
Firstpage
423
Lastpage
428
Abstract
The free body diagram method, based on the dynamic equations of isolated rigid bodies, is used to overcome the difficulties in dynamic modeling of legged robots. The article presents a simulator for a six leg machine. Both kinematic and dynamic models are developed. Kinematic equations are derived with the Denavit-Hartenberg method. The free body diagram method is used to obtain the dynamic model. Some results of simulation are presented
Keywords
legged locomotion; robot dynamics; robot kinematics; Denavit-Hartenberg method; dynamic equations; dynamic modeling; free body diagram method; isolated rigid bodies; kinematic modeling; six leg robot; Equations; Kinematics; Leg; Legged locomotion; Mobile robots; Rough surfaces; Surface roughness; Vehicle dynamics; Vehicles; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on
Conference_Location
Coimbra
Print_ISBN
0-7803-4484-7
Type
conf
DOI
10.1109/AMC.1998.743574
Filename
743574
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