Kinematics Analysis of a Quadruped Robot

This paper presents the kinematics model of a complex quadruped robot. Initially, the so-called position analysis problem is approached for both the inverse and the direct kinematics problems. All equations and geometric constraints of the system are presented. Finally a singularity analysis of closed-chain kinematics is done, pointing out which configurations should be used or avoided for a desired behavior of the robot. The singularity analysis was done by considering three different kinds of singularities: direct, inverse and combined.