Quadruped robot design and simulation analysis

In this paper,a simplified model of quadruped robot was designed by using Pro/E,four kinds of common joint models were simulated and compared by using ADAMS,the model with elbow joint in front legs and knee joint in back legs was the most stable model in trot moving.Kinematics simulation was done for the model of quadruped robot with elbow joint in front legs and knee joint in back legs,it is convenient for detailed structure design and control.