Calculation of the direct dynamic model of walking robots: comparison between two methods

Abstract

In this paper, two methods to calculate the direct dynamic model (DDM) of walking robots are presented. These methods derive from the Walker-Orin (1982) method and from the Featherstone (1983) method, generally used to compute the DDM of robot manipulators. The comparison is made on the number of operations for each method and for walking robots: a biped robot and a quadruped robot. It is shown that Featherstone's method is better than Walker-Orin's one.