Abstract
This paper presents an innovative motion synthesis method for a quadruped robot, which involves a simultaneous transfer of two of the robot's legs, along with its body. Motion synthesis is carried out for straight-line and rotational motion. The solution to the inverse kinematics problem of the robot's legs is given, which makes it possible to determine their articulated angles. The motion synthesis takes the robot’s center of gravity and zero moment point into consideration. The robot's motion simulation results are presented. Experimental research was carried out by rapid prototyping method i.e. using a multifunctional card and the Real Time Windows Target toolbox in an environment similar to the one used during simulation research, which makes research process fast and easy. The conducted simulation and experimental research verified the correctness of the proposed innovative motion synthesis method.
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