The invention discloses a hydraulic-drive four-leg
robot. The modular hydraulic-drive four-leg
robot has the advantages that the hydraulic-drive four-leg
robot is good in
dynamic balance and high in topographical adaptability, loading capacity and
cost performance, and is in a modular and bionic structural design, four leg shapes can be switched over by means of quickly assembling and disassembling subassemblies, the modular hydraulic-drive four-leg robot is multipurpose, and merits and shortcomings of various leg shapes are verified by experiments at a physical prototype stage; each single leg is provided with two leg sections, has
three degrees of freedom and comprises a hip joint and
thigh assembly, a
knee joint and shank
assembly and a side sway
assembly; a side sway and connecting block combining form is adopted for each
thigh portion according to a bionic principle, so that sufficient rigidity and strength are guaranteed, the hydraulic-drive four-leg robot can bear a load stably while the weight of the robot is reduced to the greatest extent, and sufficient activity space for hydraulic cylinders is guaranteed; shank portions comprise foot-end rubber pads and passive retractable bidirectional spring shock absorption mechanisms, and instant
impact force generated when the robot is in contact with the ground can be effectively buffered and absorbed under multiple shock absorption actions; problems of
limited service lives of components and
vulnerability of electronic elements such as foot-end force sensors due to the fact that
impact force disappears and springs are rebounded quickly when an existing robot leaves the ground can be solved by the aid of the bidirectional spring mechanisms.