A New Approach for Designing Quadruped Robot

Locomotion employed by legged land quadruped is a complex process. It requires the coordination of multiple degrees of freedom. In addition, locomotion control is complex because it requires: adapting to terrain, optimizing the gait, trying to satisfy multiple constraints, therefore, designing of quadruped robot must determine several related factors, which influences the result of the robot. Among of them, the two most important factors are: the mechanical structure and leg configuration; method of locomotion and the control system. This paper proposes a new approach for designing quadruped robot based on the skeleton of dog and the two above factors: simple mechanical structure and leg configuration are designed to simplify the operation of actuator; quadruped robot can be walked and run in a bounding gait with a simple control system.