Title :
Calculation of the direct dynamic model of walking robots: comparison between two methods
Author :
Perrin, B. ; Chevallereau, C. ; Verdier, C.
Author_Institution :
Inst. de Recherche en Cybern. de Nantes, CNRS, France
Abstract :
In this paper, two methods to calculate the direct dynamic model (DDM) of walking robots are presented. These methods derive from the Walker-Orin (1982) method and from the Featherstone (1983) method, generally used to compute the DDM of robot manipulators. The comparison is made on the number of operations for each method and for walking robots: a biped robot and a quadruped robot. It is shown that Featherstone´s method is better than Walker-Orin´s one
Keywords :
Newton method; acceleration control; legged locomotion; matrix algebra; mobile robots; motion control; robot dynamics; Featherstone method; Newton-Euler iterations; Walker-Orin method; biped robot; direct dynamic model; inertia matrix; quadruped robot; walking robots; Acceleration; Computational modeling; Differential equations; Distributed decision making; Lagrangian functions; Leg; Legged locomotion; Manipulator dynamics; Robots; Tree data structures;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.614280
