In order to ensure the stability of a quadruped robot walking with off-line planned trot gait,a new starting gait with many variable steps has been designed,and the mathematical and mechanical models of a quadruped robot have been constructed from the start to the stable walking. We use the MATLAB software to calculate out the data of the movement rule for every joint during the starting process,then put the data into the Adams dynamics simulation software for test-walking of the physical prototype model. R...
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