Abstract
This paper presents a motion planning algorithm of static walking gait for a quadruped robot. First, the kinematics and dynamics equations of quadruped are built which can be used to research legged locomotion. Based on kinematics equations, foot trajectory is proposed with some optimization methods. Then the problem of redundant freedom in the joint angle is solved through dynamic optimization. Finally, the quadruped robot walking is realized by MATLAB calculation and ADAMS simulation. © Springer-Verlag Berlin Heidelberg 2012.
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CITATION STYLE
Hua, N., Ronglei, S., Xiaofeng, H., & Xi, H. (2012). Static gait control for quadruped robot. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 7508 LNAI, pp. 376–384). https://doi.org/10.1007/978-3-642-33503-7_37
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