Quadruped mobile robots have broad application prospects and research significance, especially in fields such as industrial production, emergency response and disaster relief. A gait analysis method and control strategy for quadruped robot is proposed. The structural of the quadruped robot is analyzed. The single leg has active 3-DOF, namely hip rolling DOF and hip pitching DOF, and knee pitching DOF. The kinematics analysis is carried out and kinematics equations are obtained, the workspace of the foot end is gained. The foot trajectory is planned, and the driving equation of each joint is obtained based on the kinematics model. The simulation experiment is conducted, the movement of the leg is simulated, and the significance and rationality of the proposed method is verified.
Research on Gait Analysis and Control of Quadruped Robot
2023-05-19
733377 byte
Conference paper
Electronic Resource
English
Gait Planning and Simulation Analysis of Quadruped Robot
IEEE | 2021
|Gait Adaptation in a Quadruped Robot
British Library Online Contents | 2002
|Research on Gait Analysis and Planning of Quadruped Search-Rescue Robot
Trans Tech Publications | 2011
|