Modeling and simulation of a parallel quadruped robot

Abstract

This paper's focus is on quadruped robot design and kinematics. First, an overall idea is presented focusing on other existing solutions. Next, a custom brushless controller is introduced and a combination of a motor with custom cycloidal gearbox. The idea of actuating the robot's limbs by rods is presented. Forward and inverse kinematics is described as well as different ways of saving the energy in walking robots. In the end, the simulation of the dynamic model is presented in a V-rep program in order to test the position and Euler angles regarding the position of the quadruped's body.