New reptile based Omni-direction locomotion for a quadruped robot

In this paper, a new omni- direction gating process is proposed according to reptile and crab locomotion. At first, lizard, crab and chameleon locomotion are investigated to develop a new model of locomotion in omni- direction without any rotational movement in body geometry. The force and power of each model of locomotion are extracted, and the path of this gating in a simple trajectory and multi direction trajectory is designed. At last, by a new combination of chameleon and cram locomotion, a novel gating process is calculated. The method of dynamic equation approach is Lagrange method. Using dynamic equation and designed path, at the end of research, the Omni direction gating for a quadruped robot, will be obtained and the smoothness of velocity is investigated. The main goal of this paper is designing a new locomotion by two main properties. The first is constant velocity profile for center of body in each direction of locomotion. The second is Omni direction movement ability.