Steering and Oblique Movement Planning Method for Quadruped Robot

In order to realize the steering and oblique movements of a quadruped robot, a movement planning method based on parametric coordinate transformation matrix was proposed. After establishing kinematic model of the robot with the D-H method, the parametric coordinate transformation matrices of the body coordinate were derived to generate the locomotion plan by adjusting parameters and to achieve the two movements mentioned above. Finally, the steering and oblique movements of the robot were simulated in the flat, and the result verified the effectiveness of proposed method.