Dynamics analysis of six-legged robot with elastic joints using screw theory

Six-legged robot's dynamics was analysized considering joint elasticity, the position and velocity, and energy caused by joints' flexible variable based on the screw theory were described in detail. The compact and complete Lagrange equation of the six-legged robot system was established. The influence of elastic joints' deformation on the lifting legs was demonstrated and supporting legs by inverse dynamics simulation with constant and time-varying joint elasticity were demonstrated, moreover the effect of joints' speed was illustrated. The results of simulation reveal the influence of dynamics model caused by joint elasticity.