Dynamic Performance, Mobility, and Agility of Multilegged Robots

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Abstract
Background . This article presents a method for describing the dynamic performance of multilegged robots. It involves examining how well the legged system uses ground contact to produce acceleration of its body; these abilities are referred to as its force and acceleration capabilities. These capabilities are bounded by actuator torque limits and the no-slip condition. Method of Approach . The approach followed here is based on the dynamic capability equations, which are extended to consider frictional ground contact as well as the changes in degrees-of-freedom that occurs as the robot goes into and out of contact with the ground. Results . The analysis describes the maximum translational and rotational accelerations of the main-body that are guaranteed to be achievable in every direction without causing slipping at the contact points or saturating an actuator. Conclusion . This analysis provides a description of the mobility and agility of legged robots. The method is illustrated using a hexapod as an example.

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