Abstract
To study the gait planning of a quadruped robot when walking on parallel ground, this paper takes a self-developed directdrive quadruped robot as the research object and conducts research from both structure and simulation. The method used here is the combination of SolidWorks and ADAMS. Simulation calculations such as geometric processing, setting constraints, and designing contact are performed on the quadruped robot. At the same time, we define the 8 motor drives and come up with the gait planning, a method for processing the working conditions of the quadruped robot on flat ground is proposed. The results show that the displacement curve of the robot presents a straight-up motion law, the maximum displacement reaches 900mm, the overall motion tends to be sinusoidal, and the motion speed is about 75mm/s. This indicates that the robot has good smooth movement performance.
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