Society of Robots  Robot Forum

Robot Tutorials

FAQ

Welcome,
Guest
. Please
login
or
register
.
Did you miss your
activation email
?
1 Hour
1 Day
1 Week
1 Month
Forever
Login with username, password and session length
News:
New lower price for
Axon II
($78) and
Axon Mote
($58).
Home
Help
Search
Chat
Login
Register
Society of Robots  Robot Forum
»
Mechanics and Construction
»
Mechanics and Construction
»
Mathematical Model
Print
Author
Topic: Mathematical Model (Read 516 times)
0 Members and 1 Guest are viewing this topic.
saba_rish91
Jr. Member
Posts: 25
Helpful? 0
Mathematical Model
«
on:
January 21, 2013, 10:08:51 AM »
Hey,
I'm building a quadruped robot. I need to find its mathematical model. How do I start?
I did try to find few papers on that. But, it didn't help me.
Please help.
Thanks in advance.
Logged
Strike when the iron is hot!
Gertlex
Supreme Robot
Posts: 744
Helpful? 23
Nuclear Engineer · Roboticist
Re: Mathematical Model
«
Reply #1 on:
January 21, 2013, 11:56:38 AM »
There's various aspects... You weren't clear on what you need.
Here's a forum thread where forces on the servos are discussed.
http://forums.trossenrobotics.com/showthread.php?53494DOFlegmechanicsandtorquerequirements
As for the actual walking gaits, there are a few different ones. The NUKE code implements and documents them.
http://code.google.com/p/arbotix/wiki/NukeTuning#Gaits_Included
Finally, there are a couple of .gif animations in this thread's first post, which demonstrate the movement being done. On a single leg, it's purely a geometry problem. Then with four legs, you just have to figure out how to offset the four legs' movements to get actual walking.
http://forums.trossenrobotics.com/showthread.php?4929My4DoFQuadMechNuma
Logged
I
♥
☢
saba_rish91
Jr. Member
Posts: 25
Helpful? 0
Re: Mathematical Model
«
Reply #2 on:
January 22, 2013, 11:10:23 AM »
In the thesis (link below)
http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.12.2818&rep=rep1&type=pdf
Page 41, in equation 3.6, the vector rBH is constant and hence the derivative must be zero. But, in the next equation (3.7), he has multiplied it with the rotation matrix. I don't understand how he arrived at this.
Please help.
Logged
Strike when the iron is hot!
Print
Society of Robots  Robot Forum
»
Mechanics and Construction
»
Mechanics and Construction
»
Mathematical Model
Get Your Ad Here
data_list