Quadruped robots have stronger terrain adaptability and broad application prospects than wheeled robots. Gait planning and motion control of quadruped robots are the keys to quadruped robot technology. The mechanical structure of a quadruped robot is designed based on SolidWorks. Each leg of the robot has three degrees of freedom, and the waist has one degree of freedom. Then, driving functions of linear motion are designed for Trot gait, Walk gait, and Pace gait of the quadruped robot, and turning driving functions are designed for Trot gait and Walk gait. Finally, the motion simulation of each gait is analyzed based on Adams. The results show that the structure of the quadruped robot model designed in this paper is correct, and it can realize the straight or turning motion under different gaits. The basic characteristics of the simulated gait are consistent with the corresponding gait.
Research on Motion Control of a Small Quadruped Robot with Multiple Gaits
2023-09-22
1581602 byte
Conference paper
Electronic Resource
English
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