Dynamic Modeling of Biped Robot using Lagrangian and Recursive Newton-Euler Formulations

@inproceedings{AlShuka2014DynamicMO,
  title={Dynamic Modeling of Biped Robot using Lagrangian and Recursive Newton-Euler Formulations},
  author={Hayder F. N. Al-Shuka and Burkhard Corves and Wen-Hong Zhu},
  year={2014}
}
The aim of this paper is to derive the equations of motion for biped robot during different walking phases using two wellknown formulations: Euler-Lagrange (E-L) and Newton-Euler (N-E) equations. The modeling problems of biped robots lie in their varying configurations during locomotion; they could be fully actuated during the single support phase (SSP) and overactuated during the double support phase (DSP). Therefore, first, the E-L equations of 6-link biped robot are described in some details… CONTINUE READING

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