OPENTECHNICAL PUBLICATION
OT-2026-000001450

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

Published: 2026-09-15T19:05:54.832375Z
Permanent URL: https://opentechnical.org/p/OT-2026-000001450
Categories: Robotics & Automation > Robot Architectures

------------------------------------------------------------------------

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.

------------------------------------------------------------------------

OpenTechnical publication OT-2026-000001450
Published 2026-09-15T19:05:54.832375Z
https://opentechnical.org/p/OT-2026-000001450