Tham khảo tài liệu 'mobile robots current trends part 10', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | A Kinematical and Dynamical Analysis of a Quadruped Robot 259 Fig. 14. Joint space in the pushing stage . Fig. 15. Joint torques in the pushing stage . 260 Mobile Robots - Current Trends 0 -1 Samples 50 100 Samples Fig. 16. Movement and orientation of the center of platform in the Cartesian space in the pushing stage . Fig. 17. Joint space for one leg 1 in the stage leg on the air . A Kinematical and Dynamical Analysis of a Quadruped Robot 261 Fig. 18. Joint torques for one leg 1 in the stage leg on the air . 10 20 30 40 50 60 70 80 90 100 1 10 20 30 40 50 60 70 80 90 100 Samples Fig. 19. Movement of the gripper of a leg 1 in the Cartesian space in the stage leg on the air . 6. Conclusion This paper discussed an important issue related to legged robots the kinematics and dynamics model of the quadruped robot. The analysis done for each model was always presented in two parts the platform and the legs according to a time-varying topology and a time-varying degree of freedom of the system. Several methods were used in each modeling process always trying to use those which brought to better performance in accordance with the topology modeled and that could be easily implemented in programming languages of high level. Then were used the Denavit-Hartenberg parameters for solving the direct position kinematics of the platform and leg the Principle of Virtual Work or the d Alembert for dynamic modeling of the platform and the Newton-Euler dynamic model for leg in the .