Modelling legged robot multi-body dynamics using hierarchical virtual prototype design

Abstract

Legged robots represent the bio-inspired family of robotic devices which has to perform the most complex dynamic tasks. It is essential for them to walk in unstructured terrains, carry heavy loads, climb hills and run up to a certain speed. A complete understanding of these performances and their optimization should involve both the control and the mechanics which has been ignored by robotic researchers for years. The solution we propose is a tradeoff between control and mechanics based on the Virtual Prototype Design Method. We build a simplified numerical model of a quadruped leg based on a hierarchial architecture. The proposed model is validated by comparing the numerical solution and the physical results coming from an extended campaign of experimental tests. © 2014 Springer International Publishing.