Abstract
More and more research works have been focused on the quadruped walking robot because of its flexibility for the dangerous and complex environment. The Straight and turning gaits of a quadruped robot (JQRI00) were planned by the principle of stability margin. The virtual prototype model of the JQRI00 was constructed, and the results of the simulation and analysis of the designed gaits using ADAMS simulation software indicate that the straight and turning gaits are feasible. Moreover, the S-curve used as displacement control makes the robot more stable.
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