A computerized simulation of the dynamics of multilegged walking machines is presented. The simulation includes the effects of leg mass and compliance, joint compliance and friction, as well as the effects of leg contact with the ground. An approach is presented in which the Newton-Euler formu lation is used to develop the dynamic equations of each link. Kinematic constraints are not imposed explicitly. Instead, a compliant joint model is used to relate the dynamic reaction forces between neighboring links. The approach can handle multiloop devices with a combination of closed and open kinematic chains. Simulation results for the Ohio State Uni versity Hexapod walking machine are presented and shown to be in close agreement with previously published experi mental data.
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