Hello,
From robot arm torque tutorial, I have doubt how to compute link lengths. In my case, my robot has complex morphology (a quadruped for example).
in attached file, an image showing how links are attached, all joints are lifting ones.
I tried this formula to compute torque of one of the joints:
Torque(J1) = D.x(J1)/4 * W(J1)/2 +
D.x(J1)/2 + D.x(L2)/2 * W(L2) +
D.x(J1)/2 + d1 + D.y(J2)/2 * w(J2) +
D.x(J1)/2 + d1 + D.y(J2) + D.y(L1)/2 * w(L1) +
D.x(J1)/2 + D.x(L2)-d2 + D.y(J3)/2 * w(J3) +
D.x(J1)/2 + D.x(L2)-d2 + D.y(J3) + D.y(L3)/2 * w(L3) +
D.x(J1)/2 + D.x(L2)-d2 + D.y(J3) + D.y(L3)/2 + D.x(J4)/2 * w(J4) +
D.x(J1)/2 + D.x(L2)-d2 + D.y(J3) + D.y(L3)/2 + D.x(J4) + D.x(L4)/2 * w(L4)
Is this correct ??
I am new to robotics, im a computer science student and im trying to simulate complex robots that can adapt to unknown environment
Thanks in advance 
