Research on Gait Analysis and Planning of Quadruped Search-Rescue Robot
The search and rescue robot has the characteristics of quadruped walking machine. According to the actual structure of the quadruped robot body，the walking pose of the robot are planned，based on the study of the animal gait．The distributions of degrees-of-freedom is analyzed to ensure stable walking. A simulation model of quadruped search and rescue robot is established in ADAMS, and the motion characteristics of the system are observed using the simulation model established. Simulation results show that the motion characteristics of the system are closed related to the length of stride.
Dongye Sun, Wen-Pei Sung and Ran Chen
P. Wang et al., "Research on Gait Analysis and Planning of Quadruped Search-Rescue Robot", Applied Mechanics and Materials, Vols. 121-126, pp. 1484-1488, 2012