Coordinated Simulation of Trot Gait for Quadruped Robot Based on ADAMS and MATLAB

Abstract

In order to reduce the cost and to improve the design efficiency,the simulation of the quadruped robot was made.Pro / E was used to build the three dimensional( 3-D) model of the robot,then it was put into the ADAMS software of virtual prototype to build the mechanical system model,and Matlab / Simulink toolbox was used to build the control system. The interface between them is used to do the coordinated simulation and to verify the feasibility of the design.