Control simulation of a quadruped robot using MATLAB/simulink module

Abstract

In order to study the motion control of the quadruped robot, the control simulation of the quadruped robot, which can provide a good understanding of the specific functions of each module, as well as its control principle. The model of quadruped robot is first established by 3D UG modeling software, and then imported into the simulation environment created by using MATLAB software to complete the physical modeling. The inverse kinematic and gait planning are analyzed and built for realizing a based gait motion. Simulation experiment indicates that joints motion is very smooth and can effectively verify the proposed quadruped robot.