Modelling, Trajectory Planning and Control of a Quadruped Robot Using Matlab®/Simulink™

Abstract

Due to the difficulty of building and making control tests in real robots, it is usual to first have a simulated model that provides a good approach of a real robot’s behaviour. The importance of a good control system in execution of a planned trajectory inspired this work, whose purpose is to design a control system for a quadruped robot and test its performance.