The Design of the Quadruped Robot

Abstract

Through summarizing the quadruped walking style design quadruped robot, obtained using DH method analysis of the mechanism kinematics principle, designed for the continuity of the gait, and to add the 3 d model of constraint into ADAMS to verify, through the analysis of the displacement of the center of mass, joint torque, verify the rationality of the gait planning and meet the requirements for the selected motor.