A Novel Bio-Inspired Quadruped Crawling Robot with Movable Waist

Traditional quadruped robots usually have rigid and fixed torso, which limits their mobility and flexibility. Robots with movable waist can improve the flexibility and environmental adaptability of robots. In this paper, a novel bionic crawling robot with movable waist is proposed. The movable waist innovatively adopts an anti-parallelogram mechanism. At the same time, the waist adopts a double-layer structure design to increase the stability and bearing capacity of the robot. The kinematics model of the robot is derived based on the D-H parameter method. Bas ed on the Monte Carlo method, the toe workspace of the leg is obtained in Matlab software. The results show that due to the torsion of the movable waist, the toe workspace is significantly expanded, and the robot can achieve faster and smoother motion. A prototype was made based on 3D printing technology for experimental verification.