Abstract
AbstractIn the present paper, an attempt has been made to carry out kinematic and dynamic analysis of a quadruped walking robot. The direct and inverse kinematic analysis for each leg has been considered in order to develop an overall kinematic model of the robot, when it follows a straight path with two phase discontinuous gait. This study also aims to estimate optimal foot force distributions of quadruped robot, which is necessary for its real-time control. Three different formulations namely, tip-point force formulation, joint torque formulation and joint power formulation, have been developed. Simulation result shows that joint power formulation is more energy efficient foot force formulation than other two formulations.KeywordsDynamic modelingkinematicsquadruped robotfoot force distributionquadratic programmingdiscontinuous gait
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