A star topology dynamic model for efficient simulation of multilimbed robotic systems

摘要

Many systems of interest in robotics have a star topology structure (multiple serial chains radiating from a common mobile, non-articulated base). In this paper the author utilize the special structure of star topology-based robots to develop algorithms useful for simulating such systems. The algorithm can handle a variety of walking, grasping, and contact situations. As a specific example, a multipedal walking system is analyzed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>