Four-legged robot design and gait planning

Abstract

This paper proposes a new type of hybrid leg mechanism based on a five-bar mechanism. The single leg has three degrees of freedom. The positive and negative solutions of the leg mechanism are analyzed theoretically and solved with MATLAB. The gait planning choose diagonal gait. ADAMS is used to verify the centroid displacement and foot displacement of each leg of the gait planning. This model is proposed based on series-parallel mechanism. The mechanism not only increases the movement space and improves the carrying capacity, but also has the advantages of simple control and flexible movement. This research lays a theoretical foundation for later experiments.