Optimal Design of a Quadruped walking robot’s Leg

摘要

This paper present a design process for a quadruped walking robot. Especially, it is aimed to focus on the quadruped based bio-mimetics design concept. With the goal of efficiency in designing the robot, this study presents the optimum leg length. Main design criteria is defined as a function of the torque on the joint and a representation of functions related to walking width when moving. In details, Minimization of the motor's torque and maximization of the stride (legs) are considered to design for the quadruped walking robot.