Mechatronics design and gait implementation of a quadruped legged robot

摘要

This paper focuses on the gait analysis, design and control of a quadruped legged robot. The structure of the legged robot is first analysed in order to achieve greater mobility and prevent imposing too many constraints for the gait pattern design. Based on all the assumptions made in this study, analysis of the gait pattern is carried out to obtain an optimal regular gait for a legged robot. The kinematic equation of the legs are first formulated and incorporated into the gait simulation program in order to perform the gait simulation. The result of the gait simulation is then input into the control interface program to control the motion of the robot. In the control aspect of this paper, it focuses on the actuator servo control. A prototype of the designed quadruped-legged robot is fabricated and tested successfully based on the above analysis. It is able to move in straight-line motion at around 7 cm per cycle and the cycle took 1 minutes.