Quadruped Robots Gait Planning and Kinematic Analysis

Quadruped robots imitate the gait of animals in nature to achieve flexible and stable movement. Their superior mobility and adaptability have secured an important position in modern robotics. However, quadruped robots still face numerous technical challenges, including complex gait planning. Gait refers to the swinging and supporting movements of the legs and the relative timing of these movements. Different gaits determine various movement forms for quadruped robots, and studying these gaits plays a crucial role in the stable periodic motion of the robot. This paper analyzes three types of gaitsstatic gait, dynamic gait, and quasi-static gaitbased on traditional gait planning methods. Additionally, this paper analyze the movement of the single leg, including the forward and inverse kinematics and the endpoint cycloidal trajectory. Finally, we simulate the stable trot gait in MATLAB, returning the force curve at the foot, joint angles, angular velocity, and angular acceleration curves to complete the verification of the theory.