Gait Planning and Simulation of the JQRI00 Quadruped Robot

Xin Gao Bian; Wei Li Lu; Deng Lin Zhu

doi:10.4028/www.scientific.net/AMR.706-708.807

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 706-708Gait Planning and Simulation of the JQRI00...

Gait Planning and Simulation of the JQRI00 Quadruped Robot

Abstract:

More and more research works have been focused on the quadruped walking robot because of its flexibility for the dangerous and complex environment. The Straight and turning gaits of a quadruped robot (JQRI00) were planned by the principle of stability margin. The virtual prototype model of the JQRI00 was constructed, and the results of the simulation and analysis of the designed gaits using ADAMS simulation software indicate that the straight and turning gaits are feasible. Moreover, the S-curve used as displacement control makes the robot more stable.

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Info:

Periodical:

Advanced Materials Research (Volumes 706-708)

Pages:

807-813

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.706-708.807

Citation:

Cite this paper

Online since:

June 2013

Authors:

Xin Gao Bian, Wei Li Lu, Deng Lin Zhu

Keywords:

Gait Planning, Quadruped Robot, S-Curve, Virtual Simulation

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