Motion Coordination Strategy of Quadruped Robot Inspired by the Locomotion of Animal

Conference paper


Motion coordination is one of the key technologies that affect the stability and efficiency of robot. Animals’ motion must have the advantages reserved from long time’s evolution, which offers good prototypes for the control of robot. In this paper, the locomotion of quadruped animal, gecko, was observed when trotting on the level, and the trajectories of feet relative to the hip on the same side were analyzed. Results showed that the speed of feet on stance phase relative to the hips were the same, feet accomplished the change of moving direction and speed during transition process between stance and swing phases. This approach was simulated in a robot mode and used in trajectory plan of a quadruped sprawling robot.


Motion coordination Robot Kinematical chain Trajectory 



The project is supported by the National Program on Key Basic Research Project (2011CB302106), Foundation of Nanjing University of Aeronautics and Astronautics (4015-56YAH11017), Projects of International Cooperation and Exchanges NSFC (60910007) and Chinese NSFC (51175249, 61175105, 51105201).


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Copyright information

© Springer-Verlag London 2012

Authors and Affiliations

  1. 1.Institute of Bio-inspired Structure and Surface EngineeringNanjing University of Aeronautics and AstronauticsNanjingChina

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