Dynamic Analysis of a Rigid Four-Legged Walker

This study proposes a novel rigid inclined-plane quadruped walking robot, designed to explore the dynamic characteristics of passive walking robots. Simulation experiments were conducted using ADAMS software to verify the feasibility of achieving a stable gait and to identify optimal parameters. A physical prototype of the walking robot was fabricated using 3D printing technology for experimental exploration, revealing a clear and stable walking gait. In this paper, two mutually coupled rigid-body dynamic models are constructed to describe the dynamic process of the walking robot. Numerical solutions for period, step length, and walking speed, along with their influencing factors, are provided. During the experiments, Tracker software was utilized to analyze the robot’s motion, allowing for a quantitative analysis of the parameters affecting the system’s dynamic characteristics, thereby validating the theoretical rationality from various perspectives. This study offers new insights into the design of passive walking robots and their applications.