Motion control study on goat-like three segmented mechanical leg

Although three segmented mechanical leg is similar to animal limb morphology, it is difficult to solve inverse kinematic and dynamic equations due to the redundant degrees of freedom. Therefore, simple and efficient motion control cannot be achieved. Based on a structure of goat's hindlimb, the work in this paper aims at studying the movement mechanism to remove redundant degrees of freedom in three segmented leg by analyzing parameters of joints, toes and the centroid trajectory of the leg. Then kinematic and dynamic models of three segmented bionic leg are built. Three typical motion forms of mechanical leg are simulated. Validated in simulations, the movement mechanism provides a theoretical foundation for the motion control of the three segmented mechanical leg.