Hi,(adsbygoogle = window.adsbygoogle || []).push({});

I'm trying to make a simulation of a legged robot. The Robot consists of a body, with 6 legs attached, all with three DOF. This entails that i have a total of 19(18 from the legs + 1 from the body) moving parts. To be able to make a simulation, i need the centre of mass and the inertia tensor of the entire robot.

I have the centre of mass and tensors for the individual parts(+all forces(impact+friction), angles, angular velocities and accelerations).

The centre of mass of the entire robot is quite easy to find, using a mass weighted sum of the centre of masses, but i'm having trouble finding a way to derive the inertia tensor of the entire system from the tensors of the smaller parts.

Any help would be greatly appreciated

Sigurd

**Physics Forums | Science Articles, Homework Help, Discussion**

Dismiss Notice

Join Physics Forums Today!

The friendliest, high quality science and math community on the planet! Everyone who loves science is here!

The friendliest, high quality science and math community on the planet! Everyone who loves science is here!

# Inertia tensor for multibody system(Robot)

**Physics Forums | Science Articles, Homework Help, Discussion**