Quadruped Robot Modeling by Mirroring Bipedal Robot for Trot Gait Simulation

Abdulwadud Alatise; Raisuddin Khan; Amir Shafie

doi:10.38032/scse.2026.4.310

Authors

Abdulwadud Alatise Mechatronics Engineering Department, International Islamic University Malaysia, Kuala Lumpur, Malaysia
Raisuddin Khan Mechatronics Engineering Department, International Islamic University Malaysia, Kuala Lumpur, Malaysia
Amir Shafie Mechatronics Engineering Department, International Islamic University Malaysia, Kuala Lumpur, Malaysia

DOI:

https://doi.org/10.38032/scse.2026.4.310

Keywords:

Quadruped, LIPM, Inverse Kinematics, Trajectory, Trot Gait

Abstract

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.

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References

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