Quadruped Robot Design
For the common gaits like walk and trot, the trajectories of legs are the same way with different phases, so the study can be simplifed. A 3R robot model is build for the study.
Python
Base on the gait, the simple trajectory route can be designed in taskspace of the end effect.
Here is the manually design for simple:
Webots
Arduino Uno, Quadruped Robot