Structural Design and Gait Simulation of Bionic Quadruped Robot

摘要

In order to solve the bionic quadruped robot movement control problems, a improved method with particular attention on toe trajectory is proposed. The kinematic equation of legs is established through motion analysisJoint angle functions are solved by inverse kinematics employing legs phases in typical gait planning and the displacement for rods of hydraulic cylinders by mechanism. The toe trajectory is calculated to ensures the smoothness of the robot moving. Experimental results show that the robot walks stably on the even surface, the undulation of body has small amplitude, and the design of prototype is rational and efficient.