Multilegged vehicles

Figure 6.2 illusuiates a typical Type 1 simple closed-chain mechanism which may be used to model multilegged vehicles. For a Type 1 mechanism, the first link of each chain int cts with the support surface through an unpowered... 

The purpose of this book is to present computationally efficient algorithms for the dynamic simulation of closed-chain robotic systems. In particular, the simulation of single closed chains and simple closed-chain mechanisms (such as multilegged vehicles or dexterous hands) is investi ted in detail. In conjunction with the simulation algorithms, efficient algorithms are also derived for the computation of the joint space and operational space inntia matrices of a manipulator. These two inertial quantities are important factors in a variety of robotics applications, including both simulation and control. 

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