Real-time kinematics on the translational crawl motion of a quadruped robot

It is known that the kinematics of a quadruped robot is complex due to its topology and the redundant actuation in the robot. However, it is fundamental to compute the inverse and direct kinematics for the sophisticated control of the robot in real-time. In this paper, the translational crawl gait of a quadruped robot is introduced and the approach to find the solution of the kinematics for such a crawl motion is proposed. Since the resulting kinematics is simplified, the formulation can be used for the real-time control of the robot. The results of simulation and experiment shows that the present method is feasible and efficient.