Research on influence of joint reactions on stability of quadruped machine walking in trot gait

To realize high speed stable walking of quadruped machine, we proposed a dynamic model in the longitudinal plane of JTUWM-III quadruped walking machine in trot gait. We analyzed the influence of joint reactions on vibration and balance of the body, such as vibration of the body in walking direction and vertical direction, pitching of the body around the centre of gravity of the robot. To eliminate the bad effects of the joint reactions, we also proposed several methods, such as lifting the linkages between thighs and body to the height of the centre of gravity of the robot, etc. They were verified through calculations and dynamic simulations of virtual prototype of the robot.