Dynamic Analysis of Multi-legged Walking Robot's Swing Leg with Hand-foot-integration Function

In this paper, the structure and the motion state of a new type multi-legged walking robot with hand-foot-integration function is introduced, and its swing leg which has hand-foot-integration function is analyzed in detail. Firstly, the kinematics relation of the swing leg is researched, then the velocity and accelerated velocity expression of the swing leg is derived. And then, the dynamics of the swing leg in the state of grasping objects with considering the gravity effect is researched by using Newton-Euler method. The relevant formula is deduced in this paper. Finally, the analysis process is verified through a numerical example.