Simulation of Walk Gait for Quadruped Robot

Abstract

A simplified model of quadruped robot with two degrees per leg was designed by using Pro/E,later this model was put into ADAMS.According to the characteristic of the walk gait,the suitable sine function and half wave function were designed to drive the hip joint and the knee joint of the quadruped robot.The simulation of the model with elbow joint in front legs and knee joint in back legs was done by using ADAMS.It is practicable for this structure design plan.