Kinematic analysis of a walking machine Original Research Article

In this paper methods are presented for analysing the kinematics of walking machines using vector and screw algebra. Firstly, displacement analysis is covered; this includes methods for deriving the position vector of any joint in any leg, and for calculating the active joint displacements in any leg. Secondly, velocity analysis is covered which tackles the problem of calculating active joint velocities given the velocity, position and orientation of the body and the positions of the feet. Numerical examples are given to demonstrate the application of these methods.