In order to make the quadruped robot walk stably with trotting gait, this paper analyzed the animal's motion to get the rule-based gait sequences and used the half wave functions and cosine functions to plan the functions of every joint combining cyclical motion. Also, on the basis of the obtained gait, the virtual prototype of a bionic quadruped robot was established and kinematic and dynamic simulations were done. The simulation results show that the motion functions can make virtual prototype of the quadruped robot walk stably and the rule-based gait planning method is accurate and reasonable.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Planning and Simulation of the Rule-Based Trotting Gait of a Bionic Quadruped Robot



    Published in:

    Advanced Materials Research ; 971-973 ; 624-628


    Publication date :

    2014-06-25


    Size :

    5 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Method for controlling diagonal trotting gait of quadruped robot facing opposite legs

    WANG CHAO / HOU YAKUN / LI YUZHE et al. | European Patent Office | 2023

    Free access


    Bionic quadruped robot

    PAN YANG / YU JIEXIAN / YAN WEI | European Patent Office | 2021

    Free access

    Bionic quadruped robot

    GUO WEIZHONG / LI ZIYUE / LIN RONGFU et al. | European Patent Office | 2021

    Free access

    Velocity control for trotting of a NUDT quadruped robot

    Chen, Chunyu / An, Honglei / Wang, Jian et al. | IEEE | 2016