---
publication_id: "OT-2026-000001450"
title: "Walking mechanism for quadruped robot, and quadruped robot having the same"
published_at: "2026-09-15T19:05:54.832375Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001450"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/0009"
  - "b25j9/0009"
  - "b25j19/02"
  - "b25j19/023"
  - "b25j19/023"
  - "b25j5/00"
---

# Walking mechanism for quadruped robot, and quadruped robot having the same

## Abstract

A walking mechanism for a quadruped robot includes a support arm and a wheel mechanism. The wheel mechanism includes a first roller connected to a first connecting rod and a second roller connected to a second connecting rod. The first and second connecting rods are controlled to rotate or swing within a vertical plane, causing the wheel mechanism to be in a first state or a second state. In the first state, the first connecting rod is deployed to a first angle relative to a central axis of the support arm, and the second connecting rod is folded upward. In the second state, the first and second connecting rods are deployed to a preset angle. The walking mechanism can both ensure the energy utilization efficiency and travel speed of the quadruped robot on flat terrain, and guarantee the traversability on complex terrain.