Prathamesh Saraf

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Questions related from Prathamesh Saraf

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

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...

25 December 2020 1,419 1 View

How to convert the Coriolis and centripetal force matrix in Lagrangian formulation from S(q,q'): n1 to S(q,q')q':nn ?

The Coriolis matrix S(q,q') in the Lagrangian formulation is a coupled n*1 matrix. But in many mathematical models, an n*n Coriolis matrix S(q,q') multiplied by q' is used. I need to understand...

17 November 2020 3,836 4 View

Prathamesh Saraf

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

How to convert the Coriolis and centripetal force matrix in Lagrangian formulation from S(q,q'): n*1 to S(q,q')q':n*n ?

How to convert the Coriolis and centripetal force matrix in Lagrangian formulation from S(q,q'): n1 to S(q,q')q':nn ?