How to formulate the dynamics of the body of a legged robot(quadruped/hexapod) ?

25 December 2020 1 1K Report

I need to formulate the lagrangian dynamic equations for the hexapod robot's body. The body will constitute 6 DoF, which is 3 linear and 3 angular. I have the coordinates of each corner of the body. Do I consider each corner as a point mass and formulate the lagrangian equation using rotational and linear kinetic energy or is there any other method to do this?

Thanks in advance!

Mohamed-Mourad Lafifi

Dear Prathamesh Saraf,

I suggest you to see links and attached files on topic.

http://www.diva-portal.org/smash/get/diva2:9324/FULLTEXT01.pdf

https://www.matec-conferences.org/articles/matecconf/pdf/2019/03/matecconf_mms18_02029.pdf

https://www.mdpi.com/2079-9292/8/12/1414/htm

https://link.springer.com/chapter/10.1007/978-3-319-09435-9_6

Best regards

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