In the last two decades, small mobile robots are becoming more and more important for the unique advantage in short-distance repetitive tasks. Three major motion forms are widely adopted, consisting of wheel-type, tracked-type and foot-type.

In our project, quadruped robot becomes the preferred robot type for its better adaptation, stability and mobility under different conditions and thus meeting various requirements. Based on the gait simulation function of Linkage and SolidWorks and with the help of Arduino programing, we design a compound mechanical robot satisfying the gait planning for crossing obstacles.

1.Develop a four-legged robot whose leg structure is composed of gears, links and other mechanisms;

2.Realize basic functions of movement in accordance with our gait planning;

3.Capability of crossing obstacles without human control.

1. Can realize basic movement like going straightforward without human control;

2. Can easily cross tunnel and go downward on ramp and curved slope;

3. Have difficulty in climbing upward.