Simulation of Dynamic Walking of Quadruped Robot and Analysis of Walking Stability

Abstract

To study influence factors of quadruped dynamic walking robot on walking stability, ADAMS virtual prototype software is used to simulate dynamic walking of quadruped. Methods and procedures of trace planning, imputing data from MATLAB into ADAMS, application of load and virtual prototype modelling are stated in this paper. The influencing factors on walking stability are analyzed according to theory and simulation results, such as stride length, walking cycle period and initial stance. Some experiments which cannot be done with real prototype have been done with the virtual prototype created by us. Influences of initial stance on walking stability of the robot is also revealed and analyzed. It may be useful for design, research and simulation experiment of quadruped walking robot.