Gait Planning of a Quadruped Walking Mechanism Based on Adams

Abstract

In this paper, the kinematics analysis and gait planning of quadruped walking mechanism are carried out. Firstly, a simplified four-legged mechanism model is established; then the kinematics of the walking mechanism is analyzed; On this basis, the gait planning of walking mechanism is studied, the forward motion (four step movement) gait is analyzed, the corresponding leg swing order of each gait is calculated; Finally, ADAMS software is used to simulate and analyze the gait planning.