This paper presents a detailed dynamic modeling of phantom ax12 six-legged robot using Matlab SimMechanics™. The direct and inverse kinematic analysis for each leg has been considered in order to develop an overall kinematic model of the robot. Trajectory of each leg is also considered for both swing and support phases when the robot walks with tripod gait in a straight path. Newton-Euler formulation has been utilized to determine the joint’s torque. These results were verified using SimMechanics™. Also, feet force distributions of the hexpaod are estimated via SimMechanics™, which is necessary for its control.

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