Research on Gait Transition for Quadruped Search Robot Based on Kinetics Analysis

Abstract

According to the structure scheme of quadruped search robot, the simulation model of quadruped search robot was established in ADAMS. The kinetics equation was analyzed using Lagrange theory. The gait transition of the quadruped search robot was analyzed based on the study of kinetic characteristics. We compared and assessed the different step length and the different moving trajectory curves of the quadruped robot, which supply the valuable reference data to the design as well as the important criterions to the trajectory planning and the control of theory prototype. Simulation results show that the motion characteristics of the system are closed related to the length of step and the frequency of gait transition.