Study on walk step gait of quadruped robot based on the support polygon

In order to study the static gait stability of quadruped robot, moving orders based on the stability margin of the support polygon are studied. Based on the support triangle theory, using the brute force method of enumerated to compare all possible marching order, different moving orders of quadruped robot motion performance are analyzed by comparing adjusting frequency of the center gravity and stability margin. A series of simulation experiments were carried out to verify the proposed optimization method by using MATLAB and ADAMS software. Finally, the optimal step of the robot in static gait was obtained. The simulation results show that the optimal step can greatly improve the performance of the robot.