Romansy 13 pp 355-362 | Cite as

Design, Analysis and Measurements Problem of Mili-Walking Machines Using Multi-Body System Formulation

  • Janusz Fraczek
  • Adam Morecki
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 422)


The paper presents the generalised approach to design, kinematic and dynamic modelling of walking robot based on multi-body formalism implemented in commercial package. The impact forces were simulated using FEM approach and reaction forces were calculated. Numerical results were validated using reaction forces measurements with tensometer sensors.


Contact Force Natural Rubber Virtual Prototype Differential Algebraic Equation Kinematic Pair 


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Copyright information

© Springer-Verlag Wien 2000

Authors and Affiliations

  • Janusz Fraczek
    • 1
  • Adam Morecki
    • 1
  1. 1.Institute of Aeronautics and Applied MechanicsWarsaw University of TechnologyPoland

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