Dynamic Modeling and Kinematics Verification for Quadruped Robot

Abstract

<title>Abstract</title> Legged robots rely on dynamic locomotion to navigate through unstructured environments and perform tasks effectively. Through a continuous cycle of lifting each leg off the ground with every step, these robots effortlessly traverse uneven terrain. Quadruped robots, a subset of legged robots, stand out for their ability to maintain stable ground contact using multiple points, allowing them to adapt to diverse landscapes and environmental challenges. This capability expands the robot's reach, enabling locomotion in areas that would otherwise be inaccessible. This paper presents a comprehensive analysis of kinematics and dynamics for quadruped robots. The study focuses on deriving forward and inverse kinematics equations to describe the robot's motion, alongside discussions and comparisons of different dynamical models including the Rigid body model, Centroid model, Single rigid body model, and Linear Inverted pendulum model. Additionally, finite element analysis with ANSYS is made which allowed for a detailed examination of structural performance between two leg models: Nova and Spot Mini. This analysis revealed that Spot Mini showed higher stress tolerance and deformation resistance compared to Nova. Moreover, Forward Kinematics has been verified using Peter Corke's robotics toolbox and Gazebo physical simulator. The results illustrate the optimal base height of the robot based on the error calculated between both simulators' given data.