This article develops a coupling dynamic method focusing on the coupling relationship between the leg and the body of a legged robot. The dynamic equation of the method reflects the mechanism between an active operating part and a passive moving part among a multibody system. It is used to adjust the position and posture of the body by driving the motion of the joint of the leg, thereby solving problems such as rollover or overturning of the body during its walking or running. Because the robot has enough redundant degrees of freedom, we can design other additional constraints to achieve coordinated control of the robot. The developed dynamic modeling method is applied for two control tasks. By the results of numerical simulations, the effectiveness of this method is verified.
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