Gait planning and simulation of the quadruped robot based on virtual prototype

Abstract

In this paper a quadruped robot model is created and a gait in straight line is programmed. By using the ADAMS virtual prototyping software, the process of straight-line gait is simulated and the instantaneous position of the feet end and the centroid are obtained. The influence of legs to center of mass in walking process is analyzed. By comparing with the simulation result, the truth of the program is validated, which offers an effective way to simulation of the quadruped robot further.