Design and simulation for a hydraulic actuated quadruped robot †

@inproceedings{Rong2012DesignAS,
  title={Design and simulation for a hydraulic actuated quadruped robot †},
  author={Xuewen Rong and Yibin Li and Jiuhong Ruan and Bin Li},
  year={2012}
}
This paper describes the mechanical configuration of a quadruped robot firstly. Each of the four legs consists of three rotary joints. All joints of the robot are actuated by linear hydraulic servo cylinders. Then it deduces the forward and inverse kinematic equations for four legs with D-H transformation matrices. Furthermore, it gives a composite foot trajectory composed of cubic curve and straight line, which greatly reduces the velocity and acceleration fluctuations of the torso along… CONTINUE READING