Gait planning of the quadruped walking chair robot with parallel leg mechanism

According to walking requirements, combining modularization and reconfigurable ideas, a quadruped/biped reconfigurable walking robot with parallel leg mechanism has been proposed. In this paper, considering the dimension optimization and structural constraints of the walking chair robot, the walking step length is obtained firstly. After that, based on walking requirements and stability of body mechanism, the translational gait is planned. Furthermore, the walking chair's static stability is analyzed through the stability margin of the parallel robot. Finally the workspaces of the swing leg and the whole mechanism are calculated to verify the correctness and effectiveness of gait planning. The gait planning research on quadruped walking chair robot lays a theoretical foundation for experiment of the prototype.