Dynamic analysis and simulation on bionics quadruped robot

Abstract

The structural framework of quadruped robot was built based on the bionics. Then, lead out the dynamic equations of the simplified structure of the multiple rigid body system using Lagrange method considering the structural characteristic of quadruped robot. At the same time, the virtual prototype of quadruped robot was established and simulated using ADAMS with the planned gait. The simulation results verified the validity of mathematical modeling and the feasibility of the structure design, and it provided useful data information for the subsequent study to enhance the quality of control.