Structural Design and Gait Planning of Hydraulically Actuated Quadruped Bionic Robot

In order to be able to design a quadruped robot with strong terrain adaptation, flexible movement and high load capacity, a hydraulically actuated quadruped bionic robot is designed based on the principle of bionics to meet the need for the high flexibility and high load capability, and each leg has four degrees of freedom according to the movement patterns and the physiological structure of the canine mammal. The stable trotting gait of the quadruped robot is planned based on the forward kinematics and inverse kinematics. And the simulation of the trotting gait on the flat road is executed in ADAMS, so that the motion performances can be tested through the simulation. The body posture under the trotting gait is compared by MATLAB numerical calculation and the simulation testing, and the comparative results show that the kinematic model is reliable. Finally, the simulation is carried out to estimate the load capacity on irregular road in ADAMS, and the results show the hydraulically driven quadruped robot has a high load capacity and high terrain adaptability. Meanwhile, it verifies that the mechanical structure is reasonable and the gait planning is effective.