A new quadruped walking robot with a natural level trajectory

In this paper the design of a quadruped walking robot with a level trajectory was first reported. The legs of the proposed quadruped robot, in which each leg is comprised of the coxa, femur, tibia and toe, and actuated by two sets of gear trains, are distinct from the jointed legs of conventional walking robots. Thereafter, the dynamic simulations were carried out to validate that the body can remain a level naturally while walking. To mimic quadruped animals, a central pattern generator (CPG) was used to generate the walking patterns. Finally, an embedded control system was employed to implement the locomotion control, and it was verified that the developed quadruped walking robot can work well.