Static Gait Control for Quadruped Robot

This paper presents a motion planning algorithm of static walking gait for a quadruped robot. First, the kinematics and dynamics equations of quadruped are built which can be used to research legged locomotion. Based on kinematics equations, foot trajectory is proposed with some optimization methods. Then the problem of redundant freedom in the joint angle is solved through dynamic optimization. Finally, the quadruped robot walking is realized by MATLAB calculation and ADAMS simulation.

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