KINEMATIC ANALYSIS OF A WALKING MACHINE

In this paper methods are presented for analysing the kinematics of wa lking machines using vector and screw algebra. Firstly, displacement a nalysis is covered; this includes methods for deriving the position ve ctor of any joint in any leg, and for calculating the active joint dis placements in any leg. Secondly, velocity analysis is covered which ta ckles the problem of calculating active joint velocities given the vel ocity, position and orientation of the body and the positions of the f eet. Numerical examples are given to demonstrate the application of th ese methods.