The modeling of the hexapod mobile robot leg and associated interpolated movements while stepping

In this paper the authors present a robot leg used to form a hexapod mobile robot structure. For the leg in question were derived the direct kinematics, inverse kinematics and dynamic model. The dynamic model was implemented using SimMechanics toolbox from Matlab. The trajectory for the leg tip was implemented using piecewise cubic spline interpolation method for movements while stepping. All the algorithms, modelling and simulation were made using Matlab software suite.