Dynamic modelling of a four-legged robot View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

1996-12

AUTHORS

M. Bennani, F. Giri

ABSTRACT

A unified dynamic modelling approach of closed and/or open kinematic chain mechanisms is established. It is based on the use of the Newton-Euler formalism and the explicit formulation of kinematic holonomic constraints for the closed loop mechanisms. The approach is then applied to derive the dynamic modelling of a four-legged robot adopting a walking gait. The different movement sequences of the gait are analysed in order to calculate the all necessary terms in the dynamic equations of the quadruped robot. More... »

PAGES

419-428

References to SciGraph publications

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/bf00571701

DOI

http://dx.doi.org/10.1007/bf00571701

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1000202594


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