A study on locomotions of quadruped robot

Abstract

In this study, we focus on planning the gait of quadruped robot on flat terrain. Modeling and simulation of quadruped robot with three joint legs are carried out with MSC ADAMS software. The two phase discontinuous gait represents the sequential motion of the legs and robot body for the locomotion of going straight and turning. The simulation presents the values of the moment on joint of leg and the trajectory of the center of robot body. The experiment analyzes the locus of the center of gravity of the robot body in the gait: go straight; go straight and turn right, go straight and turn left, go forward and backward, and turn the corner. The results of simulation and experiment provides theoretical basis for building algorithm the quadruped robot motion control. © Springer-Verlag Berlin Heidelberg 2014.