Modular formulation for dynamics of multi-legged robots

Dynamic modelling plays a significant role in the design and control of fast-moving multilegged machines. In this paper, a modular method for formulating the dynamics of multilegged robots with general leg structures is proposed. Each leg is considered as an individual module, and the whole multilegged system is treated as a free-floating system with the individual leg module being coupled to a main body. The inertia matrix of the system can then be formulated through combining the inertia sub-matrix of each leg module. It is seen that system dynamic equations having a modular characteristics can be derived using the Lagrange´s equations. An algorithm for the inverse dynamic analysis is also included