Gait Planning of Four-legged Robot Based on Arch-shaped Model

According to the arch-shaped structure of Aibo robot’s front leg,a two dimensional model of robot leg is built.Using two right-angled triangles,the inverse kinematics of Aibo is calculated.Based on this model,a concentric circle gait is planned to make Aibo walk with its front feet rolling on the ground,and the parameters of fast and stable walking are obtained with machine learning.