Academic Journal of Engineering and Technology Science, 2024, 7(4); doi: 10.25236/AJETS.2024.070405.
Fengning Yang1, Hang Zhang2
1Department of Automation, Century College, Beijing University of Posts and Telecommunication, Beijing, China
2School of Mechanical and Electrical Engineering, Huangshan University, Huangshan, Anhui, China
We present the structure of this biomimetic quadruped robot and analyze its leg structure. We conducted a joint simulation using SolidWorks and ADAMS to validate the design's rationality. We constructed a physical prototype of the biomimetic quadruped robot for gait testing. Motion control is a critical aspect of quadruped robot design, and motion analysis provides the foundation for designing a physically robust and stable prototype, as well as for gait planning. After analyzing the essential poses required for motion, we designed the mechanical structure of the biomimetic quadruped robot. Employing ADAMS, we established a simulation model that takes into account the foot's contact with the ground, enabling gait planning and elucidating the dynamic behavior of the quadruped robot.
Bionic; Quadruped robot; Structural design; Gait Planning
Fengning Yang, Hang Zhang. Design and walking planning of bionic quadruped robot. Academic Journal of Engineering and Technology Science (2024) Vol. 7, Issue 4: 25-35. https://doi.org/10.25236/AJETS.2024.070405.
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