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Dynamic Modelling and Analysis of an Articulated Robotic Leg

[+] Author Affiliations
Mariapaola D’Imperio, Ferdinando Cannella, Luca Carbonari, Nahian Rahman, Darwin G. Caldwell

Istituto Italiano di Tecnologia, Genoa, Italy

Paper No. DETC2015-47140, pp. V009T07A074; 10 pages
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 9: 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5719-9
  • Copyright © 2015 by ASME


In robotics, both the analytical and numerical studies play a vital role to predict the dynamic behaviours of robotic systems. Nevertheless, dynamic modelling is essential to predict the system behaiours. In this paper, both the analytical and numerical approaches are worked out for a leg of a hydraulic quadruped robot. The research aims at the identification of system parameters like inertial and geometrical magnitudes of a complex assembled leg at various cases. Due to the articulated mechanism, the model owns a significant mathematical complexity which should be possibly reduced through a combined use of analytical and multibody tools as a preliminary step to experimental identification. Both simulations and experiments results have been carried out for the goal.

Copyright © 2015 by ASME



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