A star topology dynamic model for efficient simulation of multilimbed robotic systems

Many systems of interest in robotics have a star topology structure (multiple serial chains radiating from a common mobile, non-articulated base). In this paper the author utilize the special structure of star topology-based robots to develop algorithms useful for simulating such systems. The algorithm can handle a variety of walking, grasping, and contact situations. As a specific example, a multipedal walking system is analyzed