Dynamic modeling and simulation of quadruped robot based on virtual prototyping technology

Simulation of energy consumption for walking robot is one of the ways to estimate the energy that will be consumed before constructing the real robot, and provides basis for the design of physical prototyping with less energy consumption and its control system. Based on the analysis of kinematics and Lagrange dynamics equations of quadruped walking robot, the 3D simulation model considering contact between foots and ground was proposed to analyze the simulation of dynamics and energy consumption of whole gait cycle and obtain the dynamic characteristics. Using specific resistance to evaluate energy efficiency of walking robot, the energy consumption during walking was analyzed with different walking velocity and duty factors, and the relationship between specific resistance and gait parameter was proposed. Meanwhile, the force characteristics were analyzed between foot and ground with rigid terrain and three soft soils.