The quadruped robot has good stability and high flexibility,and has been applied in many fields.SolidWorks software was used to model the mechanical structure of the quadruped robot in 3D and perform kinematic analysis.The gait planning of the foot end trajectory of the quadruped robot was carried out based on the composite cycloid,and the motion simulation of the diagonal gait of the quadruped robot was carried out by Simulink and Simscape Multibody softwares,and the trajectories of each joint angle and position of the quadruped robot were obtained.The result shows that the gait planning of the foot end trajectory of the quadruped robot based on composite cycloids is reasonable and effective,which can provide a reference for the subsequent motion control of the quadruped robot.
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