Abstract

This paper studied the configuration modes between the legs and the body frame of the mammalian quadruped robot. Based on the quadruped robot models with four different leg configuration approaches, the optimal leg configuration mode of the quadruped robot with trotting gait is verified by means of ADAMS and MATLAB co-simulation for improving the locomotion stability and decreasing the slip of quadruped robot, which provide a theoretical basis for the design of leg configuration on real quadruped robot Scalf.

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