Analysis of a Four-Legged Robot Kinematics During Rotational Movements of Its Body

Introduction. Walking robots are widely used in industry due to their unique capabilities for moving on uneven and complex surfaces. To provide high precision in controlling their movement, it is required to develop mathematical models and algorithms for planning the robot movement along various trajectories. A key aspect of the motion control system of walking robots is the planning of their leg movements. Despite significant advances in the field of modeling the kinematics of quadruped robots, existing scientific publications do not provide a complete kinematic model for robots similar to the Mini Cheetah. This research was aimed at the development of a kinematic model of a quadruped robot based on Mini Cheetah, as well as the formulation of recommendations for optimizing its gait to provide rotation around various axes. The creation of such a model will improve the smoothness and accuracy of the robot movements, which, in turn, will increase its efficiency under real production conditions.