Modeling and Analysis of Walking Robots

Abstract

Chapters 2 and 3 have developed the building blocks that are necessary to construct mathematical models of the dynamics of walking robots. This chapter discusses how to use these building blocks to obtain models for simulation and analysis, and the next chapter describes the use of models for controller design. These three goals (simulation, analysis, and control) generally require different mathematical models, with a different balance between accuracy and complexity. Models for analysis and controller design should be simple enough to show only the most prominent features, while simulation models should be detailed enough to represent the behavior in practice as accurately as possible.