Design, Dynamic Modeling and Fabrication of a Bio-Inspired Quadruped Robot

This paper presents design and fabrication process of a quadruped robot which is based on the biologically-inspired functional principles. The main objectives of this paper are mechanical design and also fabrication of a 5 Kg quadruped robot. The path planning is performed based on foot and body trajectories. Recent findings in biological researches have motivated robots' design, leg configuration, and control structure which its locomotion is controlled by controlling angular rotations of servomotors. Full dynamic model of the quadruped robot is obtained using Lagrange and Kane methods. And finally, results of different simulations demonstrate the effectiveness of proposed method of modeling of the quadruped robot.