Dynamic performance analysis of six-legged walking machines

The aim of this article is to provide a systematic method to perform dynamic analysis in the task space for walking machine. The dynamic manipulability ellipsoid is introduced and the two quantitative indices of the walking machineʹs capability, in each configuration, of performing main-body accelerations along given task space directions are defined. The ellipsoids are derived on the basis of the mapping of the body accelerations onto the joint driving torques (including the selected generalized joints’ driving torques and non-generalized joints’ driving torques) via the proper dynamic coordination and optimal dynamic load distribution equations of the walking machine. The maximum joint torque limits are taken into account. In the final, a numerical example is given to indicate the use of the indices in the optimal designing of walking machineʹs mechanism parameters.