Gait Planning and Simulation of Quadruped Robot With Hydraulic Drive Based on ADAMS

To realize the robot's high load and high adaptability of walking on the uneven ground,a hydraulic driven quadruped robot is designed,who has the structure of less leg joints and more motion spaces.On the base of analysis of the mechanical structure,a kind of diagonal gait is designed and the dynamic walking behavior of the quadruped robot on the ground is simulated using ADAMS.The displacement of the robot's center of mass,the hydraulic cylinder driving force as well as the contact force between the feet and ground,and other parameters are analyzed.Thus the hydraulic cylinder's work flow,power parameters are obtained.The simulation result verifies the feasibility of the gait planning and structure design,which provides references for the selection of hydraulic cylinder and engine.