The Level Moving Configuration of A Quadruped Walking Machine

Usually foot moving configuration is designed to combine linkage and lead screw mechanism. Such mechanism presents left and right deviation or up and down vibration during taking stride so that its balanced status is very poor. This paper studies a level moving configuration of quadruped walking machine and uses gear parallel to enlarge the level balanced displacement of the striding motion. This design can therefore tremendously decrease up and down vibration and left and right deviation of the body. Additionally the machine´s vision system can be increased too. In the meantime, the rotation axis design has better dust-proof and water proof effect, which can be applied in the design of amphibious robot in the future.