Determination of center of gravity location and ground reaction forces for 4-legged walking robot

Abstract

There is kinematics analysis, leading to determination of center of gravity location for 4-legged walking robot presented in the paper. Forward kinematics equations for all the legs was derived. The mappings from the local leg frames to global frame located in the chassis center of gravity were proposed and derived. The Quadrapod robot by Lynxmotion was considered as the base for all the computations. Matlab software was used for implementing, testing and verifying the elaborated model. Two methods, with different simplification assumptions, were proposed to find ground reaction forces distribution.