Dynamic modelling & simulation of a four legged jumping robot with compliant legs

Legged locomotion is used by most animals and human beings on Earth. Legged locomotion is preferred over the wheeled locomotion as it can be used for both flat and rough terrains. In this paper, an attempt has been made for the dynamic modelling and simulation of four legged jumping robots with compliant legs. Sagittal plane and bounding gait has been considered for the simulation. For energy saving, passive dynamics has been used with the help of compliant legs (linear spring). Different state variables have been obtained for analysis. Control strategies have been implemented on dynamic modelling for forward velocity control.

► Paper presents dynamic modelling for a quadruped with compliant legs.
► Model considers masses of legs, friction, impact force and inclined ground surface.
► Model has been made by considering the quadruped in sagittal plane.
► Controller has been designed for controlling forward velocity of robot.
► Simulation and animation results using MATLAB validate the model and controller.