DEVELOPMENT OF A QUADRUPED ROBOT MODEL IN SIMMECHANICS^TM

摘要

The presented work allowed the creation of a quadruped robot model (with flexible body, its legs and its hip and knee joints) in the virtual simulation program SimmechanicsTM. The final objective is to use this simulation model to optimize quadruped robot locomotion. The model developed accepts different gaits by direct introduction of the angular positions of the knee and hip joints. Feet-ground interaction was also modelled using a theoretic model described in the literature.