Kinematic and Dynamic Modeling of a Quadruped Robot

Abstract

The quadruped robots have numerous advantages over the wheel due to their agility to exposure to cluster environment. This paper presents the kinematic analysis and dynamic modeling of a four-legged robot. The kinematic mechanism is the fundamental approached before proceed to the gait design. The forward and inverse kinematics equations are derived for legs with D-H transformation matrices. Also, dynamic modeling for trot gait pattern is established with the Newton–Euler theory. The computer simulation results are presented for different movement sequences of trot gait pattern to verify the validity of proposed design.