Dynamic Modeling of Quadrupedal Robot Based on the Screw Theory

In order to establish the kinematics and dynamics modeling of the quadruped robot, a dynamics modeling approach based on screw theory is demonstrated. Kinematics and the Jacobian matrix of single chain are obtained at first. Then, the dynamic modeling of single chain was established. All the 4 single chains are clustering together, and we get dynamics equation of the quadruped robot. The quadratic program solve an optimal control problem to track linear and angular acceleration of the body as closely as possible under the premise of satisfying a series of constraints of the full quadruped robot dynamics. Lastly, simulations and physical prototype experiment have been done to verify the effectiveness of the proposed method.