标题：Locomotion Planning and Performance Analysis of Quadruped Robot Based on ADAMS and MATLAB Co-simulation
作者：Li Bin; Li Yibin; Rong Xuewen
作者机构：[Li Bin] Qilu Univ Technol, Sch Sci, Jinan 250353, Peoples R China.; [Li Bin; Li Yibin; Rong Xuewen] Shandong Univ, Sch Control Sci & Engn, Jinan 25 更多
会议名称：32nd Chinese Control Conference (CCC)
会议日期：JUL 26-28, 2013
来源：2013 32ND CHINESE CONTROL CONFERENCE (CCC)
关键词：Quadruped Robot; Locomotion Planning; Co-simulation; Landing Angle
摘要：The robot-terrain-ground system is fundamentally a complex one caused by the complex interactions between the robot and terrain-ground due to the diversity and complexity of the terrain-ground. Firstly, the kinematics equation with controllable landing angle of quadruped robot is derived in this paper, and then a trot dynamic gait planning method of quadruped robot is proposed. The correctness and validity of the kinematics equation are verified in terms of the derived kinematics equation and dynamic gait planning method from the point of ADAMS and MATLAB co-simulation. In addition, the influence of the landing angle on the locomotion performance of the quadruped robot is studied by means of the quadruped simulation model with two different landing angles, which provides a theoretical basis for the gait planning and landing angle adjustment of real quadruped robot.