Abstract
The structural framework of quadruped robot was built based on the bionics. Then, lead out the dynamic equa- tions of the simplified structure of the multiple rigid body system using Lagrange method considering the structural char- acteristic of quadruped robot. At the same time, the virtual prototype of quadruped robot was established and simulated using ADAMS with the planned gait. The simulation results verified the validity of mathematical modeling and the feasi- bility of the structure design, and it provided useful data information for the subsequent study to enhance the quality of control.
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