Formation Control for Multi-Quadruped Robots in Cooperative Application

Legged robots are increasingly popular due to their mobility and environmental adaptability. They are useful for various applications, such as object handling, landing platforms, and forest explorations. This paper focuses on applying a formation technique to create trajectories on quadruped robots. It involves understanding the robot's model and kinematics, designing a gait for each leg, applying static stability, and applying position and orientation control with a P controller. The work was validated and proven functional in a MATLAB Simscape Multi-body environment.