Kinematic Modeling of Quadruped Robot

This Paper presents design of a quadruped robot which tries to walk with medium speed on flat terrain. The design of the quadruped is inspired by the four legged animal, two joints of the leg enable to perform two basic motions: lifting and stepping. The kinematic modeling proposes necessary conditions for stable walk on flat terrain. Brief guidelines for the design of the leg mechanism are presented through the study of various joints, links and degrees of freedom. Also a specific semicircular trajectory is proposed which provide the movement pattern of the legs.