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Dynamics of a Quadruped Walking Machine

The purpose of this study is to propose a new quadruped walking machine and investigate its dynamics. This paper first proposes a new quadruped walking machine and introduces its structure. The basic theory behind the equation of motion is briefly introduced. The dynamic characteristics of the walking machine, including the position, velocity, acceleration, support leg sequence, foot trajectory and pitch angle, are investigated and compared with the existing design. The results show that better transmission efficiency is achieved when the driving torque of the walking machine acts on the shaft of the crank. Compared to the existing design, the design proposed in this study has fewer changes in pitch angle during movement and exhibits less skidding while changing support leg.