Locomotion planning and performance analysis of quadruped robot based on ADAMS and MATLAB co-simulation

The robot-terrain-ground system is fundamentally a complex one caused by the complex interactions between the robot and terrain-ground due to the diversity and complexity of the terrain-ground. Firstly, the kinematics equation with controllable landing angle of quadruped robot is derived in this paper, and then a trot dynamic gait planning method of quadruped robot is proposed. The correctness and validity of the kinematics equation are verified in terms of the derived kinematics equation and dynamic gait planning method from the point of ADAMS and MATLAB co-simulation. In addition, the influence of the landing angle on the locomotion performance of the quadruped robot is studied by means of the quadruped simulation model with two different landing angles, which provides a theoretical basis for the gait planning and landing angle adjustment of real quadruped robot.