SUMMARY This paper presents the detailed dynamic modeling of a quadruped robot. The forward and inverse kinematic analysis of each leg of the proposed model is deduced using Denavit-Hartenberg (D-H) parameters. It desires to calculate the optimal feet forces of the quadruped robot’s joint torque, which is essential for its online control. To find out the optimal feet force distribution, two approaches are implemented to fulfill the locomotion objective. The four-legged quadruped robot and torso body’s detailed dynamics are modeled to generate an equation of motion for the robot control system. The Euler–Langrage theory has been used to find out the joint motion. The computer simulation results are presented to verify the effectiveness of the dynamic model.

中文翻译：

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四足机器人腿部的建模和有效脚力分布

总结 本文介绍了四足机器人的详细动态建模。使用 Denavit-Hartenberg (DH) 参数推导出所提出模型的每条腿的正向和反向运动学分析。它希望计算四足机器人关节扭矩的最佳脚力，这对于其在线控制至关重要。为了找出最佳的脚力分布，实现了两种方法来实现运动目标。对四足四足机器人和躯干的详细动力学进行建模，以生成机器人控制系统的运动方程。Euler-Langrage 理论已被用于找出关节运动。给出了计算机仿真结果，以验证动态模型的有效性。