Modelling and analysis of quadruped walking robot using singular system theory

In this paper, the modelling and analysis problem of a planar quadruped walking robot with eight degrees of freedom using singular system theory is investigated. First, a brief description about singular system is given and then, the singular model of the quadruped robot is derived. Because of the complexity of the singular model of the robot, we linearized it around the contact point of the leg and the ground, and based on this model it is shown that impulses are generated in the force which exists between leg and ground in the contact points.