Journal of Bionic Engineering

, Volume 15, Issue 4, pp 610–622 | Cite as

Inverse Kinematics Analysis and COG Trajectory Planning Algorithms for Stable Walking of a Quadruped Robot with Redundant DOFs

  • Hyunkyoo Park
  • Bokeon Kwak
  • Joonbum BaeEmail author


This paper presents a new Center of Gravity (COG) trajectory planning algorithm for a quadruped robot with redundant Degrees of Freedom (DOFs). Each leg has 7 DOFs, which allow the robot to exploit its kinematic redundancy for various locomotion and manipulation tasks. Also, the robot can suitably adapt to different environment (e.g., passing through a narrow gap) by simply changing the body posture. However, the robot has significant COG movement during the leg swinging phase due to the heavy leg weights; the weight of all the four legs takes up 80% of the robot’s total weight. To achieve stable walking in the presence of undesired COG movements, a new COG trajectory planning algorithm was proposed by using a combined Jacobian of COG and centroid of a support polygon including a foot contact constraint. Additionally, the inverse kinematics of each leg was solved by modified improved Jacobian pseudoinverse (mIJP) algorithm. The mIJP algorithm could generate desired trajectories for the joints even when the robot’s leg is in a singular posture. Owing to these proposed methods, the robot was able to perform various modes of locomotion both in simulations and experiments with improved stability.


legged robot redundant degree-of-freedoms stable walking center-of-gravity planning 


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This work was supported by the 2018 Research Fund (1.180015.01) of UNIST (Ulsan National Institute of Science and Technology), the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science and ICT (No. NRF-2015R1C1A1A01053763), and the NRF Grant funded by the Korean Government (MSIT) (No. NRF-2016R1A5A1938472).


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Copyright information

© Jilin University 2018

Authors and Affiliations

  1. 1.LG-electronicsSeoulRepublic of Korea
  2. 2.Department of Mechanical EngineeringUlsan National Institute of Science and TechnologyUlsanRepublic of Korea

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