On the dynamics of a quadruped walking machine

The purpose of this study is to propose a new quadruped walking machine and investigate its dynamics. This paper first proposes a new quadruped walking machine and introduces its topological structure. The basic theory behind the equation of motion is briefly introduced. The non-linear differential equation of motion is then solved by way of numerical method. Finally, the dynamic characteristics of the walking machine, including the position, velocity, acceleration, support leg sequence, foot trajectory and pitch angle, are investigated and compared with the existing design. The results show that the better transmission efficiency is achieved when the driving torque of the walking machine acts on the shaft of the crank. Compared to the existing design, the design proposed in this study requires lower driving torque, has fewer changes in pitch angle during movement, and exhibits less skidding while changing support leg.