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.

Abstract: A vision-based tracking control method for a quadruped robot includes receiving unilateral images captured by multiple cameras pointing different directions and utilizes an image stitching algorithm to synthesize the unilateral images into a panoramic image; based on the panoramic image, determining first and second position coordinates of the moving target and environmental obstacles; and formulating or modifying a navigation path for tracking the moving target based on the first and second position coordinates. The method significantly improves the perception ability, navigation accuracy and robustness of the quadruped robot in dynamic environments, thereby achieving more intelligent and flexible control.