Abstract
According to the present research situation on walking robot, a four-legged walking mechanism based on bionics is presented. The mathematic model of single leg is built in accordance with the projected path. The single leg is divided into driving parts and leg parts. The motion orbits of combined point are optimized using the mathematic model, and the motion character is analyzed according to this mathematical model. The results show the whole mechanism can accomplish the scheduled purpose, the velocity and acceleration of mechanism are reasonable; the trotting pace can also complete the motion simulation. It provides the theoretical basis and reference experience for foot type walking mechanism.
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