Kinematic Modeling Of Quadruped Robot With Four Bar Chain Leg Mechanism
Abstract— This paper introduces quadruped robot, its advantages and limitations. After that a new innovative leg design is
introduced. Kinematic modeling-direct and inverse kinematics is also done. Direct kinematics gives exact position and
orientation of robot foot with respect to base frame given joint angles between various links of leg. Inverse kinematics
determines joint angles given the position and orientation of robot foot to be attained. Quadruped robot performs trotting and
trajectory followed by its foot is a cycloid with 50 mm stride utilizing 6 seconds. For verification of kinematic model MATLAB
software is used.