Static Gait Planning of a Quadruped Robot with Four-Bar Shock Absorbing Mechanism

Abstract

In order to enable the quadruped robot to walk according to the preset scheme, avoiding the occurrence of rollover, discontinuity of walking, etc., this paper conducts gait planning for a quadruped robot prototype with a four-bar shock absorbing mechanism in the laboratory. Using a zero-impact static foot trajectory, the forward kinematics, inverse kinematics and other methods are used to analyze the position of the four-legged robot foot in the body coordinate system and the driving joint angle and the foot end. The relationship between the trajectories further obtains the operation of the quadruped robot in the above gait. The calculated results were brought into the Adams software for simulation, which verified the feasibility of the static gait during the prototype operation. Finally, through the prototype running test, it was confirmed that the four-legged robot prototype with four-bar shock absorbing mechanism can operate stably under the planned gait.