Abstract
The design of the four legged walking robot ldquo PASIQUAD rdquo is presented in this article It was designed in the university Carlos III of Madrid It is a quadruped quasi passive robot with only one motor actuator The manuscript is focused on how the PASIQUAD walks and the kinematics and dynamics of the movement In the manuscript the position velocity and acceleration of each of its parts as well as all the forces and torques on each of them motor torque included will be explain The PASIQUAD robot copy the movement of animals and it is almost passive That is a big advantage in energy cost
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