Study On Modeling And Simulation Of Static Walking Of Quadruped Robot

It seems more difficult to analyze the dynamic character of walking robot because of the complexity of mathematical description. The virtual computer simulation technology applied to this field can provide the basis for dynamic character analysis. In this paper, a static walking model is built by ADAMS. Through simulation analysis, the correctness of modeling is proved by the stability and consecutive walking ability, the result of kinematics and dynamics simulations provide a base for driving and control methods of quadruped robot.The key of quadruped robot walking control is stability, choice of gait and location and gesture of arthrosis. Firstly, the development and present status of quadruped robot are formulated, through the gait analysis of quadruped robot, and a stability theory research about quadruped robot is carried through, then a static walking gait along a line is programmed.Secondly, through matrix theory method is applied, and problem about location and gesture of quadruped robot this special leg structure--space zoom structure is studied, the relationship among location and gesture of quadruped robot, displacement of arthrosis in legs, and location of foot, and the evaluation method are both evaluated when two variables are known.Finally, simulation of one leg is carried through, result of simulation is got. Then numerical prototype of quadruped robot is built. During the simulation, movement is carried on legs, when the quadruped robot can walking with the static walking gait along a line as designed above, the kinematics and dynamics simulations are carried through, and the simulation result of every relative arthrosis is got.