Ali Selk Ghafari - Ph.D.Assistant Professor, Sharif University of Technology International Campus, Kish Island, Iran
Dorsa Ahmaddakeh - M.Sc. Students, Sharif University of Technology International Campus, Kish Island, Iran
Amirhosein Moghadami - M.Sc. Students, Sharif University of Technology International Campus, Kish Island, Iran
Amirali Akbar Khayyat - Ph.D.Assistant Professor, Sharif University of Technology International Campus, Kish Island, Iran

Quadrupeds have caught the interest of researchers in recent yearsbecause of their ability to be utilized in different areas such as rescuemissions, agriculture, and military activities. Yet, simulating quadrupedmovement is intricate and demands a thorough grasp of the robot'sdynamics and control. This article introduces a system for efficientlymodeling and simulating the movement of quadruped robots. In order tosimplify the process of modeling a complex multi-degrees-of-freedomsystem, it is suggested to use the direct communication features ofSolidWorks and MATLAB to develop the dynamic equations of motionfor the three-dimensional robot model being studied. The accuracy,flexibility, and visualization are the key benefits of the suggestedmodel. Because of the modular setup of the MATLAB toolboxes, it issimple to use different toolboxes to analyze the robot's stability, pathplanning, and control in different scenarios. Results from simulating thekinematics and dynamics of the suggested method using SolidWorks,Simulink, and MATLAB offer a useful tool for modeling a four-leggedrobot.

Quadruped, Dynamics, Locomotion, Robot