Walking Mechanism and Gait Design of a Novel Compound Quadruped Robot

A novel compound quadruped Robot is designed in this paper. The proposed walking mechanism contains four compound mechanical legs. Each compound leg mimic the walking mechanism of human which has a waist, a right leg and a left leg. The new robot combined the quadruped robot and the biped robot rationally which makes it have agility, high speed, high stability and high load capacity at the same time. The walking process is divided into three types: linear walking, steering and lateral walking. The regular and periodic motion of the legs makes the control simple which doesn't need complicated inverse kinematics and dynamics.