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Volume 13 | Issue 5 | Year 2026 | Article Id. IJME-V13I5P110 | DOI : https://doi.org/10.14445/23488360/IJME-V13I5P110

Path Planning and Gait Analysis of Quadruped Robots

PVS Subhashini, Yemmanur Varun, Rohan Tadem, G. Vanya Sree, B.Venkata Siva

Received Revised Accepted Published
20 Feb 2026 28 Mar 2026 27 Apr 2026 29 May 2026

Citation :

PVS Subhashini, Yemmanur Varun, Rohan Tadem, G. Vanya Sree, B.Venkata Siva, "Path Planning and Gait Analysis of Quadruped Robots," International Journal of Mechanical Engineering, vol. 13, no. 5, pp. 145-158, 2026. Crossref, https://doi.org/10.14445/23488360/IJME-V13I5P110

Abstract

Based on product production needs, various types of plant layouts are available in manufacturing. One such layout is the fixed-position layout, where assembly operations take place at a specific location, with components being delivered to that location. This paper shows the design of an automation-oriented quadruped robot used for transporting materials over uneven ground to deliver the parts to the fixed-position assembly zone. This paper gives a brief of the trajectory design, path planning, and gait analysis of a quadruped robot. The quadruped robot is modeled using SolidWorks CAD software. Its structural design was designed to ensure a balance of strength and practicality. Inverse kinematics have been effectively applied to this model, the relationship between joint configurations and the robot's legs, allowing for precise movement control. Trajectory planning was carried out, and path integration of the inverse kinematics equations was developed. Results are presented for various gaits, including walking, trotting, and galloping, which have confirmed the robot's capacity to adapt to various locomotion styles.

Keywords

Gaits, Inverse Kinematics, Motion, Path Planning, Quadruped robot.

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