Kinetostatic analysis for compliant legged robots with ground contact forces evaluation

DOI10.1007/S11012-022-01555-ZzbMath1526.70007OpenAlexW4285095411MaRDI QIDQ6100372

Cristiane Pescador Tonetto, Henrique Simas

Publication date: 22 June 2023

Published in: Meccanica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11012-022-01555-z

zbMATH Keywords

frictionnumerical simulationscrew theoryDavies methodcompliance effectrobot equilibrium

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

Cites Work

• Unnamed Item
• Screw axis defined by Giulio Mozzi in 1763 and early studies on helicoidal motion
• Force capabilities of redundantly-actuated parallel manipulators
• An historical review of the theoretical development of rigid body displacements from Rodrigues parameters to the finite twist
• Impact forces and agility in legged robot locomotion

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