Structural Model and Gait of Quadruped Robotic Horse

Abstract:

This paper focuses on the structural model and gait of a quadruped robotic horse. Based on the analysis of real horse’s skeleton, a structural model of quadruped robotic horse is proposed, and an equation for the robot’s inverse kinematics calculation is derived. Next, motion planning for robot’s swing legs is performed and the gait of this quadruped robotic horse is developed. In addition, the feasibility of stable walking using the proposed model is confirmed by simulation. Finally, a mini quadruped robotic horse based on the proposed model is manufactured. The stable walking gait of the quadruped robotic horse can be realized through an actual walking experiment.

• Periodical: Advanced Materials Research (Volumes 694-697)
• Pages: 1634-1640
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.694-697.1634
• Online since: May 2013
• Authors: Jia He Shen*, Wei Jun Tao
• Keywords: Inverse Kinematic, Quadruped Robotic Horse, Structural Model, Walking Gait

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