Abstract
A general model of legged locomotion on natural terrain incorporating closed-chain mechanism dynamics, ground interactions and joint behavior is developed in this chapter. The model is unique for its representation of non-linear foot-soil interactions which are imposed as external forces acting on the mechanism. The modeling approach requires definition of generalized coordinates for legged locomotion and the equations of motion are derived using Lagrangian dynamics. Appropriate representations of foot-soil interactions, joint damping and backdriving are experimentally calibrated and incorporated into the model.
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© 1992 Springer Science+Business Media New York
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Manko, D.J. (1992). Legged Locomotion Model. In: A General Model of Legged Locomotion on Natural Terrain. The Springer International Series in Engineering and Computer Science, vol 179. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-3574-4_3
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DOI: https://doi.org/10.1007/978-1-4615-3574-4_3
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4613-6588-4
Online ISBN: 978-1-4615-3574-4
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