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Very little is known about the locomotion of quadruped robotic systems. In Latin, the term quadruped means 'having four feet'. The robotic system analyzed in this project was a software simulation program modeled after a horse. Simulation data was recorded to resolve the relationship between foot position and impulses required to accelerate or to decelerate the system while trotting. These sets of data were then analyzed in MATLAB to produce graphical representations which allowed for a better understanding of the robot's motion in the simulation environment. A function was fit to the graph of discrete data values measured in the simulation. This function provided a model of the necessary ground reaction forces and foot position at touchdown of the system.

Creative Commons License

Creative Commons License
This work is licensed under a Creative Commons Attribution-Noncommercial-Share Alike 4.0 License.

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Mathematics Commons




Masahiko Saito, Mathematics and Statistics

Luther Palmer III, Computer Science & Engineering

Problem Suggested By:

Luther Palmer III