Design of a Simulation System for Quadruped Robot based on Gazebo

As a highly flexible and adaptable type of robot, quadruped robots have broad application prospects in military, rescue, industrial and other fields. Simulation technology plays a crucial role in the design, development, and testing of quadruped robots, which can greatly reduce research and development costs and risks, and improve research and development efficiency. This article first introduces the development history and research status of quadruped robots. Then, the advantages of simulating quadruped robots based on Gazebo were elaborated, and the design process of the Gazebo based quadruped robot simulation system and the design points of related modules were discussed in detail. Finally, the simulation system underwent simple testing, and the test results showed that the simulation system can achieve simulation of quadruped robot motion control. The test results show that the designed Gazebo based quadruped robot simulation system can achieve simulation of robot motion control, making it convenient for relevant R&D personnel to test various motion control algorithms without real robots.