Deriving 3D Newton-Euler Equations for Inverted Telescopic Pendulum Model

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SUMMARY

The discussion focuses on deriving the 3D Newton-Euler equations for an inverted telescopic pendulum model with two links, intended for simulating biped walking. The model assumes a massless leg link that supports a body link, with the hip joint allowing for all three rotational degrees of freedom. The user seeks guidance on transitioning from a 2D to a 3D model, specifically in the context of implementing the equations in C++ for simulation purposes.

PREREQUISITES
  • Understanding of Newton-Euler equations
  • Familiarity with 3D kinematics and dynamics
  • Basic knowledge of C++ programming for simulations
  • Experience with bipedal locomotion models
NEXT STEPS
  • Research the derivation of 3D Newton-Euler equations
  • Explore C++ libraries for physics simulations
  • Study the principles of bipedal walking dynamics
  • Learn about MATLAB/Simulink for modeling and simulation
USEFUL FOR

Engineers, robotics researchers, and students involved in mechanical modeling, particularly those focused on bipedal locomotion and dynamic simulations.

elasolova
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Homework Statement


I have to derive Newton euler equations of an inverted telescopic pendulum with two links. I will use this model to simulate biped walking. The leg link is assumed to be massless and it carries the body link. The model at final stage should be 3d. In 3d case the hip namely the joint between two links will have all 3 rotations. The leg is assumed to be sticked to the ground.

Homework Equations


Newton-euler equations

The Attempt at a Solution


I do not know the procedure to derive the equations. However, I think the 2d case is not that hard, but I do not know what to do in 3d case. I am not asking for a full answer. I only need someone to guide me to the right track. Thanks..
 
Last edited:
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Are you trying to set up symbolic solutions or to simulate the equations in MATLAB/Simulink/etc.?
 
I will simulate the solutions in C++.
 

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