Very little is known about the locomotion of quadruped robotic systems. In Latin, the term quadruped means 'having four feet'. The robotic system analyzed in this project was a software simulation program modeled after a horse. Simulation data was recorded to resolve the relationship between foot position and impulses required to accelerate or to decelerate the system while trotting. These sets of data were then analyzed in MATLAB to produce graphical representations which allowed for a better understanding of the robot's motion in the simulation environment. A function was fit to the graph of discrete data values measured in the simulation. This function provided a model of the necessary ground reaction forces and foot position at touchdown of the system.
"Locomotion of a Running Quadruped Robotic System,"
Undergraduate Journal of Mathematical Modeling: One + Two:
2, Article 10.
DOI: http://dx.doi.org/10.5038/2326-3622.214.171.124 Available at: http://scholarcommons.usf.edu/ujmm/vol2/iss2/10
Masahiko Saito, Mathematics and Statistics
Luther Palmer III, Computer Science & Engineering
Luther Palmer III