Abstract In this paper, the kinematics analysis and gait planning of quadruped walking mechanism are carried out. Firstly, a simplified four-legged model is established; then analyzed; On basis, studied, forward motion (four step movement) analyzed, corresponding leg swing order each calculated; Finally, ADAMS software used to simulate analyze planning.

We propose in this letter a motion planning method for legged robot locomotion based on Geometric Heat Flow framework. The task is challenging due to the hybrid nature of dynamics and contact constraints. encode constraints into Riemannian inner product, product defined so that short curves correspond admissible motions system. rely affine geometric heat flow deform an arbitrary path connecting...

This paper discusses recent analyses of the shape of motion spaces for legged robots in quasistatic equilibrium at a given set of contacts. Two robots were examined: HRP2, a biologically inspired humanoid designed by AIST Japan, and ATHLETE, a six-legged, non-biologically inspired robot designed by NASA. Probabilistic roadmap techniques are used to compute the approximate connectivity of severa...

We have developed a new operator interface system for high-DoF articulated robots based on the idea of allowing the operator to extend the robot’s actual kinematics with virtual articulations. These virtual links and joints can model both primary task DoF and constraints on whole-robot coordinated motion. Unlike other methods, our approach can be applied to robots and tasks of arbitrary kinemat...

Legged locomotion systems are a class of biological robots by supporting on the ground with discrete points, and can traverse nature terrain in large range. This kind of robots is a class of important research objects in robotics community in a long time. In the early time, most of the legged robot systems are static balance locomotion systems, which show a slow moving speed and high requiremen...

This paper will deal with the precise modelling and analysis of an industrial robot (Puma560) and a legged robot. These two configurations are analyzed because the PUMA 560 is the widely used robot in the industry and legged motion is far superior to the wheeled locomotion. The modelling and analyze is done by using a very powerful simulator called the MATLAB (Robotic Toolbox). The programme an...