Advanced kinematical model for experimental four legged walking robot

This paper briefly informs about the extended kinematical model built for quadruped mobile walking robot. The modelling is based on homogenous coordinates and positions and orients the body and legs of robot relatively to global coordinate system (world). After processing and simplification of the equations in Maple, the algorithms have been implemented in Matlab environment. The model automatically built in SimMechanics has been used for verification.