13th World Congress in Mechanism and Machine Science, Guanajuato, Mxico, 19-25 June, 2011 IMD-123

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Kinematical Modelling and Simulation of Quadruped Biomechanism

I.-D. Geonea
*
A. Margine

C.A. Ungureanu

Gh. Catrina

Craiova University Craiova University Craiova University Craiova University
Craiova, Romania Craiova, Romania Craiova, Romania Craiova, Romania


AbstractIn this paper we present the kinematical
model of a biomechanism which represent the legs of a
four legged mammal. The anterior and posterior legs are
realized as plane mechanisms, with articulated bars.
Each anterior leg has a complex structure with three
closed contours, mean while each posterior leg has only
two closed contours. Each mechanism is actuated by an
electric motor. The geometric and kinematical modelling
of the anterior leg mechanism is achieved by means of
some vectorial and scalar equations. Also, the
kinematical simulation is achieved by means of ADAMS
software, considering as basis, the upper platform of
each mechanism.
Keywords: biomechanism, kinematics, simulation
I. Introduction
In case of four legged mammals, the structure of
anterior and posterior legs is very similarly by the
structure of most majorities of actual four legs
quadrupeds [2]. To some quadrupeds, the anterior legs
are short that those posterior. To remark, that at
quadrupeds, the anterior legs have the degree of mobility
larger than the posterior legs.

Fig. 1. The picture of the dog as a quadruped biomechanism

By physical modelling of a dog (fig. 1) we obtain a
biomechanism (mobile bio robot), in which the legs are
realized like plane articulated kinematics chains.
Each physically modelled leg is actuated by a
continuous current electric motor, powered by an
accumulator battery.

*
igeonea@yahoo.com

fam_margine @yahoo.com

ca_ungureanu@yahoo.com

gh_catrina@yahoo.co.uk
The dog body is physically modelled by two parts,
front and rear and articulated between them. Also, the
dog head is connected by the body with a joint at the
head level. We mention that, in the case of this physically
model (fig. 1), the foot of the anterior legs has a rotation
in vertical plane.
II. Kinematics scheme and the mobility of the
biomechanism
In frontal plane, the physically model of the dog (fig.
2) distinguish those two complex articulated kinematics
chains for the anterior and posterior legs.


Fig. 2. Picture in frontal view of the dog as quadruped
biomechanism

The kinematics scheme of the quadruped
biomechanism is achieved in vertical longitudinal plane
(fig. 3), in which are represented the plane articulated
mechanisms of those two legs, from rear (fig. 3a) and
front (fig. 3b) [2]. The booth mechanisms are articulated
in the upper side to a horizontal link, which represent the
body of the physically modelled dog.

Fig. 3. Kinematical scheme of the mechanisms from posterior legs (a)
and anterior (b)
13th World Congress in Mechanism and Machine Science, Guanajuato, Mxico, 19-25 June, 2011 IMD-123


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The joints A
0
and B
0
of each mechanism to the upper
mobile platform (fig. 3) are considered as basis joints, by
this reason this platform has been noted with 0.
Each from those two mechanisms (rear and front) has
a first kinematics chain, the four bar mechanism
A
0
ABB
0
, which is formed from the kinematics chains 0,
1, 2 and 4.
The second kinematical chain of each mechanism is
the four bar articulated mechanism ACED, with the
kinematics elements 1, 2, 4 and 5 (fig. 3a) or BCED,
from the elements 2, 3, 4 and 5 (fig. 3b). The mechanism
of the front leg contain another kinematics chain DGHF
(fig. 3b), which is formed from the kinematics elements
2, 5, 6 and 7. The mobility of each from those two plane
mechanisms is calculated with the Dobrovolski formula:
5
1
(6 ) ( )
bf k
k f
M f n k f C
= +
=

(1)
which for (plane mechanisms) become the Grbler-
Cebev formula:
5
3
4
3 ( 3) 3 2
b k
k
5 4
M n k C n C
=
= =

C
r
(2)
where the class of the kinematics joint distinguish the
imposed restrictions (k=5, k=4).
Also, the mechanism mobility can be calculated with
the general formula, P. Antonescu: [1]
5 6
1 2
b m
m r
M mC rN
= =
=

(3)
where is distinguished the mobility of the kinematical
joints and the range of each closed
independent contour . For plane mechanisms
the formula (3) is writhed
k m = 6
f r = 6
3 2 1 3
2
1
3 2 3 N C C N mC M
m
m b
+ = =

=
(4)
To calculate the mobility of those two mechanisms
(fig. 3a, 3b) we use the formulas (2) and (4):

a) 1 0 7 2 5 3 2 3
4 5 3
= = = C C n M
b

. 1 2 3 0 2 7 3 2
3 2 1
= + = + = N C C M
b

b) ; 1 0 10 2 7 3 2 3
4 5 3
= = = C C n M
b

. 1 3 3 0 2 10 3 2
3 2 1
= + = + = N C C M
b


The characteristics dimensions of each from those two
mechanisms are (fig. 3 a , b):

a) A
0
B
0
=12 mm; ; A
0
A=28; AB=13;
B
0
B=30; A
0
C
1
=15; CC
1
=2,5; AD
1
=30; DD
1
=4; CE=40;
DE=23; DM=66; DF
1
=54; FF
1
=25;
mm y
B
2
0
=
;
0 1
A A CC
;
1
AB DD .
1
DM FF
b) A
0
B
0
=12 mm; ; A
0
A=28; AB=13;
B
0
B=26; BC
1
=15; CC
1
=4; BD
1
=27; DD
1
=4; CE=19;
DE=17,5; DF=47,5; BD=27,5; BG
1
=15; GG
1
=0,5;
GH=56; HF=10; FM=20;HM=25;
mm y
B
2
0
=
CC ;
0 1
B B .
1
AB DD
In the topological structure of each mechanism we
identify the kinematical element 1, as motor element and
two or three kinematics chain, dyad type (LD). In this
case, starting from the fundamental mechanism,
(0 1) MF +
, the structural topological equations of the
mechanisms (fig. 3a, b) have the expressions:

a) MM
p
=MF(0+1)+LD(2+3)+LD(4+5); posterior leg;
(5)
b) MM
a
=MF(0+1)+LD(2+3)+LD(4+5)+LD(6+7);anterior leg. (6)

In the following we analyze the geometry and
kinematics of the mechanism which forms the anterior
member (leg from front) with a more complex structure.
III. Kinematical modelling of the anterior leg
The mechanism has three independent contours (fig. 4)
1) - A
0
B
0
BAA
0
(03210), 2) BCEDB (34523) and 3) -
GDFHG (25762). We choose a coordinate system with
the origin in the fixed joint A
0
(fig. 4), having the axis
A
0
x and A
0
y orientated from right to left, respectively
from upper to bottom.
For each side of those three closed independent
contours we choose conveniently senses, for that the
positioning angles (measured in trigonometric sense) to
be most small (fig. 4).

Fig. 4. Kinematical scheme of the anterior leg mechanism

A. Kinematical and geometric modelling of the first
kinematics chain
The closing vectorial equation of the first contour
(03210) is writhed explicitly (fig. 5):
BA B B A A A B + = +
0 0 0 0
(7)
We arrange the terms of equations (7), that in the left
part to be the vectors which contain the unknown (the
angles
2
and
3
), and in the right side to be the vectors
known as size and direction (the angle
1
is the
independent parameter, being imposed in certain give
interval):
13th World Congress in Mechanism and Machine Science, Guanajuato, Mxico, 19-25 June, 2011 IMD-123


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A A A B B B BA
0 0 0 0
+ = + (7)


Fig. 5. The vectorial configuration of the first kinematics chain

We introduce the notations:
0 0 0
l A B

= ,
1 0
l A A

= ,
2
l BA

= ,
3 0
l B B

= , else the vectorial equation (7) is
writhed under a convenient form:
2 3 0 1
l l l l + = +

(8)
Projecting the vectorial contour on the coordinates
axis A
0
x and A
0
y (fig. 4) we obtain two scalar equations
equivalent to the vectorial equation (8):

+ = +
+ = +
. sin sin sin sin
; cos cos cos cos
1 1 0 0 3 3 2 2
1 1 0 0 3 3 2 2


l l l l
l l l l
(9)
The nonlinear system of equations (9) can be resolved
by eliminating one of two unknown
2
and
3
.
For that the system is writhed more compactly, under
the form:

= +
= +
). ( sin sin
); ( cos cos
1 2 3 3 2 2
1 1 3 3 2 2


b l l
b l l
(9)
where we have used the notations:
; cos cos ) (
1 1 0 0 1 1
l l b + =
. sin sin ) (
1 1 0 0 1 2
l l b + =
To calculate the angle
2
we isolate the terms which
contain the other unknown
3
:

=
=
. sin sin
; cos cos
2 2 2 3 3
2 2 1 3 3


l b l
l b l
(10)
After square up of those two equations (10) and
summing, it results:
2 2 2 2 1 2
2
2
2
1
2
2
2
3
sin 2 cos 2 b l b l b b l l + + = (11)
The obtained expression (11) is a trigonometrically
equations with variable coefficients, under the form:
0 ) ( cos ) ( sin ) (
1 1 2 1 1 2 1 1
= + + C B A (12)
where the variable coefficients have the
expressions:
1 1 2 2 1 1 1 2 1 1
2 2 2 2
1 1 3 2 1 1 2 1
( ) 2 ( ); ( ) 2 ( );
( ) ( ) ( )
A l b B l b
C l l b b


= =
=

(13)
With the help of formulas:

2
1 2
2
1
1
2
sin
tg
tg
+
= ,

2
1 2
2
1 2
1
1
cos
tg
tg
+

= , the solutions of the equations (12) are

deducted under the form [1]:
|
|
.
|

\
|

+
=
1 1
2
1
2
1
2
1 1
2
2
C B
C B A A
arctg (14)
Similarly we calculate the angle
3
with the same
formula (14) actualized under the form:

2 2 2
2 2 2 2
3
2 2
2
A A B C
arctg
B C

| |
+
| =
|
\ .
(14)
where those three variable coefficients have the
expressions:
2 1 3 2 1 2 1 3 1 1
2 2 2 2
2 1 2 3 1 1 2 1
( ) 2 ( ); ( ) 2 ( );
( ) ( ) ( ).
A l b B l b
C l l b b


= =
=

(13)

B. Kinematical and geometric modelling of the second
kinematics chain
Knowing the angle
2
,

we pass to the second
kinematics chain (3, 4, 5, 2, 3), which has the closing
vectorial equation ( fig. 6 ):
ED BD CB EC = + + (15)
In formula (15) we take account that
B C CC CB
1 1
+ = ; triangle CC
1
B is rectangular and the
angle
1
is constant, being obtained with the formula:
192 . 0
13
5 , 2
1
1
1
= = =
BC
CC
tgo , resulting the value
Also, the module of the vector . 89 , 10
0
1
= o BD is
obtained from the rectangular triangle BDD
1
, from which
we calculate the angle
2
with the formula:
129 . 0
31
4
2
1
1
= = =
BD
DD
tgo , resulting the value
. 35 , 7
0
2
= o
Equation (15) is writhed by regrouping the terms
under the form:
BD CB EC ED + = (15)
Introducing the relations (fig. 6):
3
l CB ' =

,
2
l BD ' =

,
4
l EC

= .
5
l ED

= , (16)
the equation (15) become

2 3 4 5
l l l l ' + ' = (17)

13th World Congress in Mechanism and Machine Science, Guanajuato, Mxico, 19-25 June, 2011 IMD-123


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Fig. 6. Vectorial configuration of the second kinematics chain

Projecting the vectorial contour with the equation (17)
on the coordinates axis we obtain two scalar equations
which form a system by the form:
5 5 4 4 3 3 1 2 2 2
5 5 4 4 3 3 1 2 2 2
cos cos cos( ) cos( );
sin sin sin( ) sin( ).
l l l l
l l l l
o o
o o
' ' = + + +

' ' = + + +

(18)
The nonlinear system of equations (18) can be
resolved by eliminating one of those two unknown
4
and

5
. For that the system is writhed more compact in the
form:

=
=
) , ( sin sin
); , ( cos cos
2 3 4 4 4 5 5
2 3 3 4 4 5 5


b l l
b l l
(19)
where we have noted:
); cos( ) cos( ) , (
2 2 2 1 3 3 2 3 3
o o + ' + + ' = l l b
). sin( ) sin( ) , (
2 2 2 1 3 3 2 3 4

o o + ' + + ' = l l b
To calculate the angle
4
we isolate the terms which
contain the other unknown
5
:

=
=
. sin sin
; cos cos
4 4 4 5 5
4 4 3 5 5


l b l
l b l
(20)
After square up of those two equations (20) and
summing, it results:
4 4 4 4 3 4
2
4
2
3
2
4
2
5
sin 2 cos 2 b l b l b b l l + + = (21)
Expression (21) is a trigonometrically equations with
variable coefficients under the form:
3 3 2 4 3 3 2 4
3 3 2
( , ) sin ( , ) cos
( , ) 0
A B
C


+
+ =
+
(22)
where the variable coefficients have the expressions:
3 3 2 4 4 3 2 3 3 2 4 3 3 2
2 2 2 2
3 3 2 5 4 3 3 2 4 3 2
( , ) 2 ( , ); ( , ) 2 ( , );
( , ) ( , ) ( , )
A l b B l b
C l l b b


= =
=
(23)
Like in anterior case, the solutions of the equations
(22) are deducted under the form:
|
|
|
.
|

\
|

+
=
) 4 ( 3 ) 4 ( 3
2
) 4 ( 3
2
) 4 ( 3
2
) 4 ( 3 ) 4 ( 3
) 5 ( 4
2
C B
C B A A
arctg
(24)
in which those three variable coefficients have the
expressions:
4 3 2 5 4 3 2 4 3 2 5 4 3 2
2 2 2 2
4 3 2 5 4 3 3 2 4 3 2
( , ) 2 ( , ); ( , ) 2 ( , );
( , ) ( , ) ( , )
A l b B l b
C l l b b


= =
=
(23)

C. Kinematical and geometric modelling of the third
kinematics chain
Knowing the angle
5
we pass to the third kinematics
chain (2, 5, 7, 6, 2), which have the closing vectorial
equations (fig. 7):

















Fig. 7. Vectorial configuration of the third kinematical chain

We group the terms of the equations (25), that in the
left part to be the unknown vectors (the angles
6
, and
7
), and in the right side to be the vectors known as size
and direction.
DF DG GH FH = (25)
We introduce the notations
7
l FH

= , '
2
l DG

= ,
6
l GH

= , '
5
l DF

= , that the vectorial equation (25) is
writhed under a convenient form:
' '
5 2 6 7
l l l l

= (26)
Projecting the vectorial contour on the coordinate
system axis A
0
x and A
0
y, (fig. 7) we obtain two scalar
equations equivalent to the vectorial equation (26).
5 5 2 2 6 6 7 7
5 5 2 2 6 6 7 7
sin ' sin ' sin sin
cos ' cos ' cos cos


l l l l
l l l l
=
=
(27)
The nonlinear system of equations (27) can be
resolved by eliminating one of two unknown
6
and
7
.
For that the system is writhed more compactly:
A
0
A

B

D

F

H

M

G
1
D
1
0

1
2

x
6

7

5

6
y

7
13th World Congress in Mechanism and Machine Science, Guanajuato, Mxico, 19-25 June, 2011 IMD-123


5
)
( )
(
5 2 6 6 6 7 7
5 2 5 6 6 7 7
, ' sin sin
, ' cos cos


b l l
b l l
=
=
(28)
where we have noted:
( )
( )
5 5 2 2 5 2 6
5 5 2 2 5 2 5
sin ' sin ' , '
cos ' cos ' , '


l l b
l l b
=
=
(29)
To calculate the angle
6
we isolate the terms which
contain the other unknown
7
.
( )
( )
6 6 5 2 6 7 7
6 6 5 2 5 7 7
sin , ' sin
cos , ' cos


l b l
l b l
+ =
+ =
(30)
After we square up those two equations (30) and
summing, it results:
6 6 6 6 5 6
2
6
2
5
2
6
2
7
sin 2 cos 2 b l b l b b l l + + + + = (31)
The obtained expression (31) is a trigonometrically
equation with variable coefficients by the form:
( ) ( )
( )
6 2 5 6 6 2 5 6
6 2 5
', sin ', cos
', 0
A B
C


+ +
+ =
(32)
where the variable coefficients have the expressions:
( ) ( )
( ) ( ) (
6 2 5 6 6 6 2 5 6 5
2 2 2 2
6 2 5 7 6 5 2 5 6 2 5
', 2 ; ', 2 ;
', ', ',
A l b B l b
C l l b b

)
= =
=

The solutions of the equation (32) are deducted under
the form:
|
|
|
.
|

\
|

+
=
) 7 ( 6 ) 7 ( 6
2
) 7 ( 6
2
) 7 ( 6
2
) 7 ( 6 ) 7 ( 6
) 7 ( 6
2
C B
C B A A
arctg
(33)
in which those three variable coefficients have the
expressions:
( ) ( )
( ) ( ) ( )
7 2 5 7 6 7 2 5 7 5
2 2 2 2
7 2 5 6 7 5 2 5 6 2 5
', 2 ; ', 2 ;
', ', ',
A l b B l b
C l l b b


= =
=

IV. Diagrams of angular displacements variations
We consider the uniform movement of the motor
element 1 (fig. 3). With the help of the ADAMS software
we simulate the movement of the anterior leg for the
angle
1
= 52.
We realize the mechanism as a 3D structure, on which
the kinematics elements are defined as shape, geometry
and material property.
We define the kinematical joints of the mechanism
with corresponding constraints and mobilitys, we define
the local and global coordinates systems upon we
calculate the mechanism kinematical parameters. We
define the motor element and eventually loads (forces or
moments which act upon the kinematical elements) upon
we process the kinematical analysis.

Fig. 8. 3D Model of anterior leg mechanism with plane articulations


Fig. 9. Trajectory of F joint between elements 6 and 7
13th World Congress in Mechanism and Machine Science, Guanajuato, Mxico, 19-25 June, 2011 IMD-123


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With the help of ADAMS software we present the
variations diagram of the positioning angles of conducted
kinematical elements (2, 3, 4, 5, 6, 7).

Fig. 14. Law of variation for the angle

6

Fig. 10. Law of variation for the angle

2

Fig. 15. Law of variation for the angle

7
V. Conclusions
In this paper we have presented the geometric and
kinematics modelling of the kinematics chain (with three
closed contours) which composes the anterior member of
a dog robot. For modelling and simulation we have used
the ADAMS software. Starting from the closing vectorial
equations of the contours we calculated the analytical
expressions of the angles of positioning of each from the
kinematical elements. In figure 8, is presented the 3D
model of the mechanism of the anterior leg of the dog
robot, realized in ADAMS, and also are shown the joints
of the plane mechanism. In figures 10-15 are presented
the laws of variations for the positioning angles of the
elements which compose the kinematics chain of the
anterior leg of the dog robot. In figure 9 we present the
trajectory of the characteristic point F (fig. 3) and
simulation in two positions of the plane articulated
mechanism of the anterior member.
Fig. 11. Law of variation for the angle
3

References
Fig. 12. Law of variation for the angle
4
[1] Pun Antonescu, Mechanism and Machine Science, Printech
Publishing House, Bucharest, 2005

[2] C. Micu, I. Geonea, E. Buzea, Kinematic modeling and simulation
of quadruped biomechanism, ICOME 2010 - 27
th
30
th
of April
2010, Craiova - Romania.
[3] M. Hiller, D. Germann, J.A Morgado de Gois, Design and control
of a quadruped robot walking in unstructured terrain, Proceedings
of the 2004 IEEE Intern. Conf. on Control Applications , pp. 916 --
921, vol. 2, Taipei, 2004.
[4] C. Tavolieri, E. Ottaviano, M. Ceccarelli, A. Nardelli, A Design of a
New Leg-Wheel Walking Robot, Proceedings of the 15 th
Mediterranean Conference of Automation and Control &
Automation, July 27-29, 2007, Athens, Greece
[5] Javier Garcia de Jalon, Eduardo Bayo, Kinematic and Dynamic
Simulation of Multibody Systems. The Real-Time Challenge",
ISBN 0-387-94096-0, 440 pp., Springer-Verlag, New-York, 1994
Fig. 13. Law of variation for the angle
5

[6] Lenarcic, Jadran; Wenger, Philippe, Advances in Robot Kinematics:
Analysis and Design, 2008, XII, 472 p., ISBN: 978-1-4020-8599-4