Howard, D.; Zhang, S.J.; Sanger, D.J. - In: Mathematics and Computers in Simulation (MATCOM) 41 (1996) 5, pp. 525-538
In this paper methods are presented for analysing the kinematics of walking machines using vector and screw algebra. Firstly, displacement analysis is covered; this includes methods for deriving the position vector of any joint in any leg, and for calculating the active joint displacements in any...