A gait planning approach for quadruped gecko like robots

With the advancement of science and technology, the application fields of quadruped robots are gradually expanding. The core issue that needs to be addressed is to study and improve the motion mode in order to enhance the overall performance of quadruped robots. This article proposes an optimized triangular gait planning based on a specific gecko quadruped robot configuration. Triangular gait is widely used in hexapod robots, which enables the robot to maintain stability in complex environments, reduce energy consumption, and improve work efficiency. This article establishes a spatial coordinate system for the single leg of a quadruped robot using the D-H algorithm, and calculates the kinematic forward and inverse solutions of the single leg with given parameters. Afterwards, based on the above conclusions, design a single leg end trajectory to ensure that the foot movement trajectory is as smooth as possible. Finally, consider and calculate the overall center of gravity trajectory of the robot to comprehensively design the robot's triangular gait. The simulation results show that the foot trajectory design meets the design requirements, and the quadruped robot can achieve stable walking under the improved triangular gait.