Dynamic Analysis of a Quadruped Robot

This article presents a spatial dynamics of a quadruped robot Mini Cheetah with different numbers of supporting legs. The aim of the work is to construct and analyze a dynamic model of a four-legged robot taking into account a different number of supporting legs. To obtain a dynamic model, the concepts of Lagrange mechanics were applied. For the unsupported phase of the robot's motion, a solution to the inverse problem of dynamics is obtained. For the single-support phase of motion, a decomposition of the system of equations of motion into two subsystems of a lower order is obtained. For the two-support phase of motion, a software control of the robot's motion is obtained, represented by a solution to the direct problem of dynamics. The results of the work can be used in the design and manufacture of new four-legged robot.