Research on Improved Cycloid Foot Trajectory of Quadruped Robot

摘要

To realize moving forward of quadruped robot by static walking, a cycloid was chose to be foot trajectory to generate a static gait with the inverse kinematics theory. Then the gait was simulated and testified with the dynamics simulation software named RecurDyn. According to the simulation results, the shortage of cycloid foot trajectory was pointed, that the unequal velocity of support feet was the key cause of body lateral shift in the process of simulation. So the cycloid foot trajectory was isokinetic improved and the foot velocity was made sure to be continuous. It was turned out to be that lateral shift phenomenon was eliminated with the improved static gait.