Abdulwadud Alatise, Raisuddin Khan, Amir Shafie
In order to explore the development of stable quadruped robots, a method is proposed using concepts that have proven efficient in the design of bipedal robots. The legs of a bipedal robot are mirrored, and the parameters are adjusted to suit a quadruped robot. Starting by generating a foot trajectory through the use of the Linear Inverted Pendulum Model, the generated positions are used to derive joint angles via inverse kinematics from the D-H parameters of the model. The process is simulated and tested, and the results of the simulation show a stable trot gait of a quadruped at low speed on a horizontal plane. It is observed from the simulation that the stability still has room for improvement.