Modeling a reconfigurable legged robot with movable center of body using multi-body dynamics approaches

Modeling a reconfigurable legged robot with movable center of body using multi-body dynamics approaches

This paper presents the modeling and simulation of a reconfigurable hexapod robot, Hexaquad, featuring a movable center of body (MCB) mechanism using MATLAB Simscape Multibody. The study applies a multibody dynamics (MBD) approach with spatial contact force modeling to enhance stability and terrain...

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Bibliographic Details
Main Authors: Nur Salasus Salwa, Khairul Anuar, Addie Irawan, Hashim, Zulkifli, Mansor, Mohammad Fadhil, Abas, Nor Maniha, Abdul Ghani
Format: Conference or Workshop Item
Language:en
Published: IEEE Xplore 2025
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:https://umpir.ump.edu.my/id/eprint/46560/1/Modeling%20a%20Reconfigurable%20Legged%20Robot%20with%20Movable%20Center%20of%20Body%20using%20Multi-body%20Dynamics%20Approaches.pdf
https://umpir.ump.edu.my/id/eprint/46560/
https://doi.org/10.1109/InECCE64959.2025.11150924
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https://umpir.ump.edu.my/id/eprint/46560/1/Modeling%20a%20Reconfigurable%20Legged%20Robot%20with%20Movable%20Center%20of%20Body%20using%20Multi-body%20Dynamics%20Approaches.pdf
https://umpir.ump.edu.my/id/eprint/46560/
https://doi.org/10.1109/InECCE64959.2025.11150924

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