Dynamics of quadruped walking robot with parallel leg mechanism

Based on modularization and reconfigurable theory, a biped/quadruped reconfigurable walking robot with parallel leg mechanism for the elderly and the disabled is presented. The robot not only can be combined into a biped walking robot, but also can be used for a quadruped walking robot. Applying to influence coefficient theory and principle of virtual work, the dynamic modeling of the swing leg and the body mechanism are established under static walking condition, and then the dynamic equation for swing leg and the coordinate equation under over-determinate inputs for the body mechanism are derived. By using the weighted least squares method, the optimal coordination distribution of dynamic load for the quadruped walking robot is analyzed, which solves the dynamic coupling problem caused by the branches' constraint of the robot in the walking process.