Biomimetic Goat Leg Robot Leg Configuration Kinematic Analysis

Bipedal robots are inherently poorly self-stabilizing mechanisms. To enhance stability and achieve high-level dynamic control, it is necessary to refine the mechanism design, which often leads to an increase in degrees of freedom, thereby complicating the kinematic and dynamic models. This paper analyzes the dynamic model of a newly designed bipedal robot inspired by the legs of a bionic sheep. Each leg of the robot has 5 degrees of freedom, forming an 8-joint serial-parallel hybrid mechanism. Based on the D-H parameter modeling, taking the right leg as an example, forward and inverse kinematics are solved for the robot, and the model is tested. The results show that the robot exhibits good walking capability in a simulation environment, confirming the feasibility of the overall design.