US 12,703,080 B2Granted

Walking mechanism for quadruped robot, and quadruped robot having the same

AssigneeIxova Inc

InventorsKangming Geng, Angela Yijia Geng

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Abstract

A walking mechanism for a quadruped robot includes a support arm and a wheel mechanism. The wheel mechanism includes a first roller connected to a first connecting rod and a second roller connected to a second connecting rod. The first and second connecting rods are controlled to rotate or swing within a vertical plane, causing the wheel mechanism to be in a first state or a second state. In the first state, the first connecting rod is deployed to a first angle relative to a central axis of the support arm, and the second connecting rod is folded upward. In the second state, the first and second connecting rods are deployed to a preset angle. The walking mechanism can both ensure the energy utilization efficiency and travel speed of the quadruped robot on flat terrain, and guarantee the traversability on complex terrain.

Claims14

Dependent claims

A walking mechanism for a quadruped robot, comprising:

a support arm, comprising a first end configured to connect to a main body of the quadruped robot and a second end provided with a control device;
and
a wheel mechanism, comprising a first roller connected to the control device via a first connecting rod and a second roller connected to the control device via a second connecting rod;
wherein the control device is configured to control the first connecting rod and the second connecting rod to rotate or swing within a vertical plane, causing the wheel mechanism to be in a first state or a second state;
in the first state, the first connecting rod is deployed to a first angle relative to a central axis of the support arm, and the second connecting rod is folded upward, such that the support arm lands and moves by the first roller, with the second roller suspended;
in the second state, the first connecting rod is deployed to a second angle relative to the central axis of the support arm, and the second connecting rod is deployed to a third angle relative to the central axis of the support arm, such that the support arm lands and moves by both the first roller and the second roller, wherein the second angle is greater than the first angle;
wherein the support arm is provided with an accommodation cavity inside, and a side surface of the support arm is provided with an opening communicating with the accommodation cavity;
when the wheel mechanism is in the second state, the second connecting rod and the second roller are accommodated within the accommodation cavity via the opening;
wherein the second connecting rod is provided with a locking portion, and an inner side wall of the support arm is provided with a matching portion;
when the second connecting rod is accommodated within the accommodation cavity, the locking portion is locked with the matching portion.

7 more elements

A quadruped robot, comprising a main body and walking mechanisms connected to the main body, wherein each of the walking mechanisms comprises:

a support arm, comprising a first end configured to connect to the main body and a second end provided with a control device;
and
a wheel mechanism, comprising a first roller connected to the control device via a first connecting rod and a second roller connected to the control device via a second connecting rod;
wherein the control device is configured to control the first connecting rod and the second connecting rod to rotate or swing within a vertical plane, causing the wheel mechanism to be in a first state or a second state;
in the first state, the first connecting rod is deployed to a first angle relative to a central axis of the support arm, and the second connecting rod is folded upward, such that the support arm lands and moves by the first roller, with the second roller suspended;
in the second state, the first connecting rod is deployed to a second angle relative to the central axis of the support arm, and the second connecting rod is deployed to a third angle relative to the central axis of the support arm, such that the support arm lands and moves by both the first roller and the second roller, wherein the second angle is greater than the first angle;
wherein the support arm is provided with an accommodation cavity inside, and a side surface of the support arm is provided with an opening communicating with the accommodation cavity;
when the wheel mechanism is in the second state, the second connecting rod and the second roller are accommodated within the accommodation cavity via the opening;
wherein the second connecting rod is provided with a locking portion, and an inner side wall of the support arm is provided with a matching portion;
when the second connecting rod is accommodated within the accommodation cavity, the locking portion is locked with the matching portion.

7 more elements

Dependencies are inferred from the claim text.

Facts

Application: 19/403,028Filed 27 Nov 2025
Published: US 2026/0084289 A126 Mar 2026
Granted: 11 Aug 2026
Term ends: Not estimatedThe source records don’t support an estimate.

Classification8 codes

B25J 9/0009
Program-controlled manipulators: constructional details, e.g. manipulator supports, bases
B25J 5/007
Manipulators mounted on wheels or on carriages: mounted on wheels
B25J 9/102
Characterised by positioning means for manipulator elements: gears specially adapted therefor, e.g. reduction gears
B25J 19/023
Optical sensing devices: including video camera means