Simulation kinematics model of a multi-legged mobile robot

This paper addresses the kinematics modeling of a four legged mobile robot which has been developed to study the leg swinging and robot motion during locomotion. The robot motion is categorized into: The leg swinging motion as an open loop kinematics chain and the robot trunk motion relative to the feet during locomotion as a closed kinematics chain. Algorithms for solving the forward and inverse kinematics problems of these two categories have been developed. A closed kinematics chain algorithms of the whole robot structure is presented. This closed kinematics model is used in off-line animation of the robot motion in different cases and to simulate the stable wave gait in off-line programming. The robot motion by computer graphics is displayed.