Leg Kinematics of Quadruped Robot

The forward kinematics and inverse kinematics of the leg of a quadruped robot are the basis of quadruped robot control. The relationship between foot position and joint angle through forward kinematics is the basis of foot velocity and joint velocity. The joint angles of the three joints of the leg can be directly calculated through the inverse kinematics, which can be directly used to drive the motor movement. In this paper, the forward kinematics model and formula derivation are established by analyzing the leg structure of a quadruped robot. The inverse kinematics uses geometric method to obtain the formula of each joint. The leg kinematics model is established by using the robot toolbox. The inverse kinematics calculation is carried out for two different positions and postures, and the correctness of the inverse kinematics calculation is verified in real robot.