Design and Analysis of a Hybrid Quadruped Robot

Abstract

A bybrid quadruped robot is proposed. The robot could walking ahead, turnning about the Center of Mass, climbling stairs and rolling ahead on flat terrain by wheels equipped on the feet. The mechanics, parameters, kinematic analysis is proposed. 3D simulation model is built in ADAMS. Gait with rith right stability margin is derived through many gaits simulation. experiments testifed the performance of the robot.