• Sanjay D. Shankhat
• Ashish M. Thakkar

This paper presents forward kinematics and inverse kinematics of one leg of quadruped robot since all leg are identical, which is connected to platform. Then, it is combined with help of mapping or transformation approach for remaining leg of robot. Forward kinematics is carried out by closed form solution approach due to less number of DOFs are involved. Simulation is carried out in Simscape Multibody environment. Model of quadruped robot with eight DOFs is created with help of different available blocks. By using repeating sequence stair input different value of angle is supplied to the all the joints of quadruped robot. By contact friction force library, the contact between leg end point and ground is carried out. At the end, Simple animal walking pattern is simulated in simscape Multibody

Quadruped robot, legged robot, kinematic analysis, simscape Multibody

"Kinematic Analysis and Simulation of Quadruped Robot in Simscape Multibody", International Journal of Emerging Technologies and Innovative Research (www.jetir.org), ISSN:2349-5162, Vol.6, Issue 5, page no.393-397, May-2019, Available :http://www.jetir.org/papers/JETIR1905660.pdf

"Kinematic Analysis and Simulation of Quadruped Robot in Simscape Multibody", International Journal of Emerging Technologies and Innovative Research (www.jetir.org | UGC and issn Approved), ISSN:2349-5162, Vol.6, Issue 5, page no. pp393-397, May-2019, Available at : http://www.jetir.org/papers/JETIR1905660.pdf