Trajectory Planning and Implementation of a Four-Legged Walking Machine

摘要

A four-legged walking machine has beer) designed as a platform for various research topics in future. The constructed walking machine is an improved version of an earlier model. In this paper, a preliminary model for the leg kinematics is presented. A brief discussion on the joint/leg coordination is also given. An alternative method to simplify the inverse kinematic method for the trajectory planning is proposed and being tested. The constructed machine will be expanded and implemented in the next phase for an efficient walking.