Analysis and Simulation of Quadruped Walking Robot with Hydraulic Driving

Abstract

This paper describes a quadruped walking robot with hydraulic driving. The model of the quadruped robot is built by ADAMS and the link coordinate system of the quadruped robot's leg is established based on the D-H parameter method with kinematics equations established. A hydraulic control system model is established by the theoretical analysis of the hydraulic system, and the stable walking of quadruped robot is simulated by using the joint simulation of MATLAB and ADAMS.