Reza Yazdani - Tarbiat Modares University
Vahid. Johari Majd
Reza Oftadeh - Khajeh Nasir University

In this paper, we present gait-generation algorithm for a four legged robot which can move in four directions: forward, backward, right and left directions. The robot can alsohave a combined locomotion including rotation along with each of the four mentioned movements at the same time. Stability isthe other issue that we deal with in this paper. Several different methods have been developed to assess the stability of robots. In this paper, we use zero moment point (ZMP) criterion toachieve the stability for the robot. To fulfil the ZMP criterion, we restrict the movement of the robot to go along x axis. Due tothe complexity of the kinematic equations for finding the ZMP location, we simplify the robot’s model and also utilize therobot motion’s curve analysis to determine the necessary parameters. The simulation results show the effectiveness of thedesign.

Quadruped, legged robot, trajectory planning, stability, locomotion