Bionic mechanism and kinetic characteristic for quadruped robot dog

摘要

Taking the dog for prototype, this paper mainly study the bionic mechanism and kinetic characteristic for quadruped robot dog. Inspired from the physical structure and movement patterns of mammals, establish the model of quadruped robot dog with scapula and biarticular muscle which has the characteristics of bionic structure and simple control. Combined with the foot motion characteristics of mammals, use interpolation method to fit the trajectory curve of foot and achieve the mapping form foot Cartesian space to joint space through the kinematic analysis. Apply the joint angle relationship to carry out the motion simulation under the environment of ADAMS. It is proved that the feasibility of the bionic mechanism which uses the bionic gait and it makes the foundation for designing the bionic mechanism of quadruped robot dog with compliant structure.