Electronic Science and Technology ›› 2020, Vol. 33 ›› Issue (5): 33-38.doi: 10.16180/j.cnki.issn1007-7820.2020.05.006

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Diagonal Gait Simulation Analysis of a Quadruped Robot

CHEN Jiupeng,SAN Hongjun,ZHANG Daoyi,HU Qiongqiong,ZHANG Kaixiang,XIONG Binzhou   

  1. Faculty of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming 650500,China
  • Received:2019-03-28 Online:2020-05-15 Published:2020-06-02
  • Supported by:
    National Key R & D Projects(2017YFC1702503)


The bionic quadruped robot has become the focus of bionics research because of its simple control, strong adaptability to various road conditions, and environmental adaptability. Aiming at the complexity of quadruped robot model and the difficulty of diagonal gait control, a quadruped robot simulation platform was established in the proposed study. The quadruped robot model was built from SolidWorks and its kinematics equation was obtained. The diagonal walking of the robot was realized by the method of ADAMS and Simulink. The simulation showed that the robot had a forward distance of about 0.65 m in 7 s and a small amount of centroid fluctuation in the vertical direction, which proved that the robot could achieve stable operation and laid a solid foundation for robot dynamics and trajectory planning.

Key words: quadruped robot, diagonal gait, ADAMS, Simulink, SolidWorks, stable operation

CLC Number: 

  • TP242.3