Planning and Simulation of the Rule-Based Trotting Gait of a Bionic Quadruped Robot

Abstract

In order to make the quadruped robot walk stably with trotting gait, this paper analyzed the animal's motion to get the rule-based gait sequences and used the half wave functions and cosine functions to plan the functions of every joint combining cyclical motion. Also, on the basis of the obtained gait, the virtual prototype of a bionic quadruped robot was established and kinematic and dynamic simulations were done. The simulation results show that the motion functions can make virtual prototype of the quadruped robot walk stably and the rule-based gait planning method is accurate and reasonable.