The Kinematics Research and Control of Quadruped Robot Based on Scilab

摘要

Foot type robot is a popular research field and quadruped robot has vast application. This paper proposes and sets up a new kind of structure for quadruped robot based on Scilab after studying the quadruped animal’s leg structure. Then establishes reference frames by using D-H method and solves the positive and negative kinematic problems of the quadruped robot. Finally, using the open software Scilab which has been used in the study of mobile robot for the first time to simulate and analyze the kinematics characteristics of the robot.