Control and Design of Quadruped Robot

Abstract

Research project focused on developing a Hybrid Dynamics-based controller for dynamic walking gait generation in quadruped robots. The controller uses hybrid zero dynamics to achieve stable and energy-efficient locomotion.

Produced an animation from a MATLAB program of the quadruped dropping from a certain height and recovering to stable walking.

Methodology

• Kinematic and dynamic modeling of a 12-DoF quadruped
• Hybrid zero dynamics (HZD) based gait generation
• Whole-body control with contact force optimization
• Simulation and animation in MATLAB

Results

Generated stable walking gaits with reduced energy consumption. Produced animations showing the quadruped dropping from height and recovering to stable walking.