Design of quadruped robot based on coupling driving leg mechanism and optimization of crawling gait

In allusion to the problem of inadequate motor drive ability and low efficiency in the current research on quadruped robot, this paper puts forward the use of coupling driving leg mechanism to establish quadruped robot and designs coupling driving hip joint of compound motion pattern. It can have compound motion at multiple angles as two motors in hip joint select different directions of rotation and speed. It is difficult to obtain a high stability margin and traveling speed simultaneously when a quadruped robot travels with crawling gait. To solve this problem, this paper optimizes its crawling gait with the motion of swing with sidewise orthocenter in continuous crawling gait; optimizes its crawling gait through sidewise orthocenter adjustment so as to achieve the balance of traveling speed and stability margin; describes the influence of motion amplitude with sidewise orthocenter on stability margin during quadruped crawling gait in a quantitative way and finally verifies the effectiveness of this optimized gait through principled sample machine test.