Interactive Force Analysis of High-speed Locomotion of Quadruped

How to continuously improve the locomotion speed is an important research problem in the field of quadruped robots. This paper shows how interactive force can perform useful functions in high-speed galloping of quadrupeds, but few robots make much use of them. Based on the reconstruction of biomechanical data, the change of the direction angle of the ground reaction force of quadrupeds was analyzed. After that, the mechanism model of the cheetah was established by referring to the body shape of a real cheetah. Then the dynamic model of the cheetah's leg was derived according to the Lagrange method, and the joints torques and the other terms of the dynamic equation were analyzed. At the same time, some practical methods for improving the speed of quadruped robots were summarized.