Step Path Simulation for Quadruped Walking Robot

This article discusses a model of a quadruped walking robot with 12 degrees of freedom. The trajectory of the robot's leg movement under the uniform rectilinear motion of the robot is synthesized. The trajectory consists of a reference phase and a transfer phase. In the transfer phase, elliptical foot trajectories are used. A mathematical model of the dependence of the drive parameters on time and geometric parameters of the trajectory is constructed. Numerical simulation of the obtained models is carried out. The dependences of accelerations, velocities, torques, and drive power on time and trajectory parameters are obtained. The article analyzes these dependencies. The possibility of optimizing the trajectory parameters for the specified drive parameters to obtain the maximum speed is shown. The dependence of the drive parameters on the geometric dimensions of the robot leg is analyzed. It is shown that the maximum speed is achieved at certain ratios of the geometric parameters of the leg. In conclusion, practical conclusions are given on optimizing the trajectory parameters in order to obtain the maximum speed.