Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 13, issue 1
Articles | Volume 13, issue 1
https://doi.org/10.5194/ms-13-137-2022
© Author(s) 2022. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-13-137-2022
© Author(s) 2022. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 13, issue 1
Research article
 | 
01 Mar 2022
Research article |  | 01 Mar 2022

Simulation and analysis of a single actuated quadruped robot

Changtao Yan, Kan Shi, Haiqiang Zhang, and Yanan Yao

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Short summary
Aiming at the complex control system of a quadruped robot, a leg structure of a quadruped robot was designed based on mechanism synthesis. The innovativeness of this robot is that it can achieve a special gait driven only by a single motor. Simulation and experimental analysis prove that the mechanism is reasonable, reliable and can meet the requirements of linear walking and climbing. The conclusions of this research will be useful for application in field of single actuated quadruped robots.
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