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Although three segmented mechanical leg is similar to animal limb morphology, it is difficult to solve inverse kinematic and dynamic equations due to the redundant degrees of freedom. Therefore, simple and efficient motion control cannot be achieved. Based on a structure of goat's hindlimb, the work in this paper aims at studying the movement mechanism to remove redundant degrees of freedom in three segmented leg by analyzing parameters of joints, toes and the centroid trajectory of the leg. Then kinematic and dynamic models of three segmented bionic leg are built. Three typical motion forms of mechanical leg are simulated. Validated in simulations, the movement mechanism provides a theoretical foundation for the motion control of the three segmented mechanical leg.

In this paper, a gait transition method of quadruped robot was investigated, which is controlled by changing rhythm. It makes the duration time of liftoff and touchdown events variable through the continuous change of walking parameters, and realizes the gait transition from walk to trot. The quadruped bionic robot is a series parallel-multiple branching of nonlinear inverted pendulum system. The stability of trot gait in gait transition processes to the stability of inverted pendulum, and the balance adjustment is generated basing the original motion. The experiment is verified by interactive co-simulation among Matlab-Adams. The transition method satisfies the continuous and steady movement of quadruped robot in gait transition.