Torque Simulation and Analysis of Quadruped Robot under Trot Gait

Abstract

The quadruped robot can overcome the unevenness of the wheeled chassis on steps and gravel roads, and has good passability. The Trot gait is the basic gait of the quadruped robot, and the walking is realized by the gait of alternating footsteps. In this paper, the dynamic simulation of the static equilibrium state of the quadruped robot in different poses on the ground and stair is carried out, and the movement of the robot body under the trot gait is simulated to obtain the joint torques of the upper and lower leg of the quadruped robot, which is the driving torque of the joint motor. The model selection provides a theoretical basis, and at the same time, the motion analysis of the quadruped robot is carried out, and the moving distance of the chassis under the extreme posture is planned.