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Quadruped robots have been widely applied for the advantage of flexible mobile way. However, most of quadruped robots have large inertia and an impact load between the foot endpoint and ground in the process of movement because of series connection way. In order to solve the problems, a new mechanism of quadruped robot is designed and analyzed based on the active flexible joint with variable stiffness.

Design and Analysis the Hybrid Linkage Walking Mechanism Based on the Variable Stiffness Active Flexibility Joint