Forward Kinematics Analysis and 3-Dimmision Gait Simulation of a MiniQuad Walking Robot

Kinematics analysis is essential for robotic design and control. The forward kinematics of a multilegged walking robot is very complicated due to its complex mechanism and redundant actuation. In this paper, the forward kinematics of reptile-like multilegged robots is analyzed by considering the basic walking pattern with three supporting legs. The redundant joint variables are first derived and expressed in terms of the independent joint variables. Based on the redundant actuation analysis, the forward position, velocity, and acceleration are derived. The resultant formulas are verified through a numerical example and a simulation on a multilegged walking robot MiniQuad-I.