Page 304 - Robot Design Handbook ROBOCON Malaysia 2019
P. 304
motion performance. Recently, many quadruped robots mimicking animals have been
developed.
3.1 Structural Design
When a digitigrades walking style animal walks, equivalent bending and extension
motion are conducted at the shoulder and elbow joints. To realize the coordination of
motions between shoulder and elbow joints, we adopt a two joint as mechanism of the front
leg. The rear leg consists of three joint as shown in Figure 9. The trot movement are shown
in Figures 10 and 11, respectively.
Figure 9: Structural design of quadruped robot.
Figure 10: Trot movement 1.
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