Gait Design and Numerical Simulation for a Quadruped Robotic System

One of the important areas of research in legged robotics is the locomotion. In this paper a brief overview on representative gaits used by legged rovers is presented. A review on various kinematic and dynamic design analyses along with the control strategies used for quadruped system is carried out. The main focus of this paper is to perform a kinematic analysis for dynamic and static walking gaits for a quadruped robot. Based on the result from this analysis typical trajectories and gaits are developed and simulated in MATLAB. Since a dynamic gait is considered here, the system is classified under underactuated systems and the stability of the system is discussed as such. An overview of the work done toward building an experimental setup to carry out the experimental study is outlined.