Locomotion simulation of a quadruped robot on general level terrain

To design a quadruped mobile robot that has a capability to move on a general terrain, its motion on a specific terrain should be studied carefully. The level terrain is classified into three classes, horizontal, inclined and vertical terrain. Kinematics algorithms for modelling and simulating the robot locomotion on these three terrain classes are presented. The walking stable wave and the wall climbing gaits are simulated in 3-D graphics.