A Study of the Locomotion of a Running Quadruped Robotic Systems

by Bradley Savon

Submitted : Spring 2010

Very little is known about the locomotion of quadruped robotic systems. The term, quadruped, is Latin for ‘having four feet’. The robotic system analyzed in this project is modeled after a horse. A simulation program is the best way to analyze the way the robotic system will react given its environment. Large sets of data are recorded to resolve the relationship between foot position and impulse required to accelerate and decelerate the system while trotting. These sets of data are then analyzed in MATLAB to produce graphical representations which allow for a better understanding of what is happening while the robot moves in the simulation environment. The current trotting algorithm used in the simulation environment only allows for accelerations and decelerations no greater than 0.25 m/s in one step. With discrete values measured, a function can be fit to the graph which gives the ability to calculate the necessary ground reaction forces and position of the foot at touchdown of the system.

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