---
publication_id: "OT-2026-000001903"
title: "Quadrupedal walking robot"
published_at: "2026-09-15T19:09:24.654802Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001903"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j5/00"
  - "b62d57/028"
  - "b62d57/032"
  - "b62d57/032"
  - "b25j13/006"
  - "b25j13/08"
---

# Quadrupedal walking robot

## Abstract

A quadrupedal walking robot includes: a main body; four leg portions coupled to the main body and configured to perform a bending operation, each of the four leg portions including two or more joints; a plurality of joint actuators configured to drive a plurality of the joints; a traveling device configured to protrude from the main body in a down direction of the main body and configured to operate so as to come into contact with a support surface supporting the quadrupedal walking robot and to move the quadrupedal walking robot in a state of being in contact with the support surface; and a controller configured to control operations of the plurality of joint actuators and the traveling device.