Adaptive Variable-Link Mechanism for Zoomorphic Quadruped Robots Bioinspired in Canine Locomotion on Irregular Terrains

Abstract

This work presents the design of a bioinspired canine-locomotion quadruped robot. A key design feature is the implementation of a variable-link mechanism in each leg, enabling foot trajectory curve modulation. This configuration enhances adaptive control when navigating varied terrains, optimizing locomotion efficiency and stability. Foot trajectory analysis and optimization were performed using computer vision techniques with OpenCV, comparing results to biological canine gait patterns. Validation through MATLAB simulations and CAD environments demonstrates the bioinspired advantages of the proposed mechanism for adapting to complex surfaces.