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Mechanical structure of the quadrupedal robot was designed to complete pitch motion by mimicking the mammal's body. Joint motion tracks of the quadrupedal robot were designed and motion relation of knee and hip joints was formulated according to the leg-motion-pattern of mammal. Rhythmic motion controller of the quadrupedal robot adopted biological model of central pattern generator (CPG), whose outputs were used to be control signals of joint angles for hips. Flipping and translating the motion curves of hip joints in the same leg obtained control signals of knee joints. Proved by numerical and animation simulation, all the designs for the quadrupedal robot are effective. The quadrupedal robot can walk smoothly.