JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE) ›› 2011, Vol. 41 ›› Issue (5): 32-36.

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Mechanical design and gait planning of a hydraulically actuated quadruped bionic robot

LI Yi-bin1, LI Bin1,2, RONG Xue-wen1, MENG Jian1   

  1. 1. School of Control Science and Engineering, Shandong University, Jinan 250061,China;
    2. School of Science, Shandong Polytechnic University, Jinan 250353, China
  • Received:2011-08-20 Online:2011-10-16 Published:2011-08-20

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Abstract:

A hydraulically actuated quadruped bionic robot has been developed by Center for Robotics at Shandong University is described in this paper. The objective is to design a highly dynamic and high load quadruped robot that enables the adaptation to complex terrain. Based on mule／horse creature bionics, the leg configuration with passive structure and hydraulic actuation are met the needs of stability control and high load capacity. And the stability dynamic trotting gait of the quadruped robot is planned based on the forward kinematics and inverse kinematics. Experiments of the developed quadruped bionic robot platform show the rationality of mechanical design and the effectiveness of gait planning.

Key words: quadruped bionics, robot, hydraulic actuation, design, gait planning

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