Trotting gait control of quadruped robot based on Trajectory Planning

Abstract

In order to improve the motion stability and environmental adaptability of quadruped robot in trotting gait, a motion control method based on swing leg gait planning is proposed in this paper. The kinematics model of quadruped robot is established, the forward and inverse solutions are obtained, and the trajectory curve of swinging leg of quadruped robot in trotting gait is planned. The simulation model is established in ADAMS to verify that the trotting gait control method based on the foot trajectory planning of the swing leg is effective and feasible.