Quadruped Animal Emulation Platform: Kinematics of the Legs

Abstract

This paper presents a four-legged robot that has two servomotors per leg (eight in total), located on the shoulders and elbows in the forequarters and on the hips and knees in the hindquarters. The design, construction and programming of this robot, aims to emulate quadruped animals. This robot platform, can walk in different ways to imitate both existing animals as well as extinct quadrupeds. The robot can walk forward and backward and also do it with different strategies without falling.