INTERNATIONAL JOURNAL OF SCIENTIFIC & TECHNOLOGY RESEARCH VOLUME 6, ISSUE 09, SEPTEMBER 2017 ISSN 2277-8616

Inverse Kinematic Analysis Of A Quadruped

Robot
Muhammed Arif Sen, Veli Bakircioglu, Mete Kalyoncu

Abstract: This paper presents an inverse kinematics program of a quadruped robot. The kinematics analysis is main problem in the manipulators and
robots. Dynamic and kinematic structures of quadruped robots are very complex compared to industrial and wheeled robots. In this study, inverse
kinematics solutions for a quadruped robot with 3 degrees of freedom on each leg are presented. Denavit-Hartenberg (D-H) method are used for the
forward kinematic. The inverse kinematic equations obtained by the geometrical and mathematical methods are coded in MATLAB. And thus, a program
is obtained that calculate the legs joint angles corresponding to desired various orientations of robot and endpoints of legs. Also, the program provides
the body orientations of robot in graphical form. The angular positions of joints obtained corresponding to desired different orientations of robot and
endpoints of legs are given in this study.

Index Terms: Quadruped robot, D-H parameters, forward kinematic, inverse kinematic, MATLAB, kinematic program, simulation.
———————————————————

1 Introduction Oak and Narwane [5], showed the kinematic modelling of a

demonstrate quadruped robot leg with four bar chain mechanism. Zhang
Quadruped robots are an important place in robotic and their
popularity are increasing. Quadruped robots are more et.al [6], propose a structure design of quadruped robot using
complex in structure, more difficult to control than wheeled and a mammalian animal with the kinematics analysis, also
crawler robots. They have a complex structure, which leads to optimized a leg of robot and simulated in ADAMs. Anand [7],
a higher instructional in terms of robotics and control theory. provided insights into the kinematic analysis of a quadruped
Less energy consumption, good stability and locomotion on robot capable of both walking and functioning as a machining
uneven and rough terrain are main advantages of quadruped tool. Ganjare et.al [8], designed a quadruped robot with two
robots. Low speed, difficult to build and control, need on- joints of the leg, it enable to perform two basic motions: lifting
board power are limitations of quadruped robots. The number and stepping at medium speed on flat terrain. Chenet.al [9],
of study about quadruped robots has increased in recent years introduced a hydraulic quadruped robot and built kinematic
due to better performance in challenging terrain conditions. model of the robot in part of their study. In this paper, a
The example of current studies about quadruped robots; MATLAB program that calculates forward and inverse
BigDog [1] is developed by Boston Dynamics, HyQ2Max [2] is kinematics of a quadruped robot corresponding to desired
developed by Semini et al., Jinpong [3] is developed by Cho et different orientations of robot and endpoints of legs and
al. In quadruped robots, a good kinematic model is necessary demonstrate the 3-D robot form in graphical is developed.
to stability analysis and trajectory planning of system. There Kinematic equations are obtained by Denavit-Hartenberg
are two types of kinematic analysis: forward and inverse method [10] and analytical solutions [11].
kinematics analysis. In the forward kinematic analysis, the joint
variables are given to find the location of the body of the robot. 2 KINEMATIC ANALYSIS
In the inverse kinematic analysis, the location of the body is The quadruped robot is a robotic system that consists of a
given to find the joint variables necessary to bring the body to rigid body and four legs with three degrees of freedom (each
the desired location. Detailed studies on the kinematic leg has the same structure). The links of legs are connected to
analysis of quadruped robots are available in the literature. each other by rotary joints. The physical model of the
Potts and Da Cruz [4], presented both the forward and inverse quadruped robot is shown Fig. 1. The parameters of robot are
kinematics model of a complex quadruped robot named given in Table 1.
Kamambare with singularity analysis.

____________________________

 Muhammed Arif Sen, Department of Mechanical

Engineering, Selçuk University, Konya, Turkey,
[email protected]
 Veli Bakırcıoğlu, Technical Science Vocational
Education and Training School, Aksaray University,
Aksaray, Turkey, [email protected]
 Mete Kalyoncu, Department of Mechanical Fig. 1. The physical model of the quadruped robot
Engineering, Selçuk University, Konya, Turkey,
[email protected]

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INTERNATIONAL JOURNAL OF SCIENTIFIC & TECHNOLOGY RESEARCH VOLUME 6, ISSUE 09, SEPTEMBER 2017 ISSN 2277-8616

TABLE 1. THE PARAMETERS OF ROBOT The kinematic equation the centre of body’s coordinate system
(xm, ym, zm) and The Main Coordinate System of each leg (x0,
y0, z0) is given by the transformation matrices given in Eq.6,
The Length of Robot L=1 [m] Eq.7, Eq.8, Eq.9. The positions and orientations of each leg
Dimensions

The Width of Robot W=0.4 [m] can be calculated according to the position and orientation of
Physical

the robot's body.

The Length of Side Swing Joint L1=0.1 [m]
The Length of Hip Joint L2=0.4 [m]
( ) ( )
The Length of Knee Joint L3=0.4 [m]
[ ]
The Coordinate System of centre of Body [xm, ym, zm ] ( ) ( )
Coordinate Systems

The Main Coordinate System of Each Leg [x0, y0, z0]

The Coordinate System of Side Swing Joint [x1, y1, z1]
( ) ( )
The Coordinate System of Hip Joint [x2, y2, z2]
[ ]
The Coordinate System of Knee Joint [x3, y3, z3] ( ) ( )

The Coordinate System of Endpoint of Leg [x4, y4, z4]

The Yaw Angle of Robot ϕ
( ) ( )
The Pitch Angle of Robot ψ
[ ]
( ) ( )
Variables

The Roll Angle of Robot ω

The Angle of Side Swing Joint θ1
The Angle of Hip Joint θ2 ( ) ( )
The Angle of Knee Joint θ3 [ ]
( ) ( )
As shown in Figure 1, depending on the legs coordinates, the
robot body can have different configurations. For this reason, Forward kinematics of robot, deals with the relationship
the kinematic equation between the rotational movements (φ, between the positions, velocities and accelerations of the
ψ, ω) around the centre of body’s coordinate system (xm, ym, robot links. Inverse kinematics is the process of finding the
zm) and the coordinate system of each endpoint of leg (x4, y4, values of the joint variables according to the positions and
z4) is investigated. Initially, to determine the position and orientations data of the endpoint of robot. In other words, in
orientation of the robot centre of body in the workspace, the order to move the robot endpoint to the desired position, it is
transformation matrix is obtained in Eq.5 using the rotation necessary to determine the rotational values of the joints with
matrices (Eq. 1, Eq. 2, Eq. 3, Eq. 4). inverse kinematic analysis. The forward and inverse
kinematics of analysis one leg of a quadruped robot are
( ) ( )
described in detail. The legs are in different orientations with
[ ] each other but in the same structure, so it is sufficient to
( ) ( )
investigate the forward and inverse kinematics analysis of a
single leg. Fig. 2 shows the coordinate systems and the
angular positions of the right front leg joints. The Denavit-
( ) ( ) Hartenberg parameters for forward kinematics of the leg are
[ ] given in Table 2.
( ) ( )

( ) ( )
( ) ( )
[ ]

[ ]

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( ) ( ) ( )
( ) ( ) ( )
[ ]

[ ]

TABLE 3. THE ELEMENTS OF THE FORWARD KINEMATIC

MATRIX

( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
( )
( ) ( ) ( )
( ) ( ) ( )
( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
( )
( ) ( ) ( )
( ) ( )
Fig. 2. The Coordinate Systems of Leg Joints ( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
TABLE 2. THE PARAMETERS OF DENAVIT-HARTENBERG ( ) ( ) ( ) ( )

( ) ( ) ( ) ( ) ( )
Link α i-1 a i-1 di θi
0-1 0 L1 0 θ1
1-2 -π/2 0 0 -π/2
2-3 0 L2 0 θ2
3-4 0 L3 0 θ3

Each transformation matrices ( , ) are given in Eq. After obtained the transformation matrices and forward
10, Eq. 11, Eq. 12, Eq. 13 and the forward kinematic matrix kinematic matrices required for the inverse kinematic solution
( ) is given in Eq. 14. The elements of the forward kinematic of the Quadruped Robot, the inverse kinematic analysis is
matrix of a leg are given in Table 3. performed using analytical methods. Equations expressing the
angular position of joints (θ1, θ2, θ3) are obtained and given in
Eq.15, Eq.16 and Eq.17. There are nonlinear equations in the
( ) ( ) ( ) solution of inverse kinematics problems. For every
( ) ( ) ( ) mathematical expression computed, there may not be a
[ ] physical solution. Also, there may be more than one solution for
the legs endpoint to go to the desired position. For this reason,
the legs of the robot (1 and 3) and the leg of the robot (2 and 4)
have been realized in the same kinematic structure but in
different configurations.
[ ]

( , ) (√ , )

( ) ( ) ( )
( ) ( ) ( )
[ ]
( ,√ )
( ( ),
( ))

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INTERNATIONAL JOURNAL OF SCIENTIFIC & TECHNOLOGY RESEARCH VOLUME 6, ISSUE 09, SEPTEMBER 2017 ISSN 2277-8616

( √ , ) (Legs for 1 and 3)

(√ , ) (Legs for 2 and 4) 

( ) ( )

program, 3 different inverse kinematic analyses are performed

3 CONCLUSION and the results obtained from the program are presented in
graphical form. As a result, the program which developed in
In this study, forward and inverse kinematic analysis of a
this study performs efficiently the kinetic analysis of a
quadruped robot is investigated. Denavit-Hartenberg method
quadruped robot. Furthermore, the robot form can be display
is used for forward kinematics, analytical solutions is used for
by using the program easily. In addition, this study will
inverse kinematics. The obtained kinematic equations are
contribute to the work such as dynamic analysis, walking
transferred to MATLAB environment and a program is
analysis on the four-legged robot. In addition, this study will
developed to obtain the angular position of joints of each legs
contribute to the other studies about dynamic analysis, walking
corresponding to the different robot orientations and different
analysis on quadruped robots.
coordinate systems of endpoint of legs. In order to test the

TABLE 3. THE EXAMPLES RESULTS OBTAINED FROM THE PROGRAM

[x4, y4, z4]=[0, -0.65, 0] [xm, ym, zm]= [0, 0, 0] θ1 θ2 θ3

1 7.5883° 28.7493° -29.7695°

φ= 0° Leg Number 2 11.5735° -33.0804° 100.5692°

ψ=-15°
3 11.5735° 33.0804° -100.569°
ω=0°

4 7.5883° -28.7493° 29.7695°

[x4, y4, z4]=[-0.05, -0.55, 0] [xm, ym, zm]= [0, 0, 0] θ1 θ2 θ3

1 -9.7298° 49.8269° -53.8359°

Leg Number

φ= -45° 2 47.7890° -30.1490° 67.8506°

ψ= 0°
3 -31.9917° 59.6929° -69.4310°
ω=-10°

4 31.8200° -36.8724° 82.0530°

[x4, y4, z4]=[-0.15, -0.7, 0.05] [xm, ym, zm]= [0.1, 0.2, -0.3] θ1 θ2 θ3

1 -51.7965° 30.1317° -35.2716°

φ=-10°
Leg Number

2 -48.0254° -34.7341° 99.7991°

ψ=-10°

ω=15° 3 34.9428° 62.5980° -105.322°

4 43.2869° -25.3487° 59.5477°

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ACKNOWLEDGMENT
This study is supported by the Coordinator ships of Selçuk
University’s Scientific Research Projects. (Project No:
16401148)

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