[1] [1] WEIDEMANN H J, PJEIFER F, ELTZE J. The Six-legged TUM Walking Robot ［C］. Proc. of the IEEE (RD). International Conference, 1994, 1026-1033.

[2] [2] E M CH, LIU H, ZHANG X L, et al.. Compliant gait generation for a quadruped bionic robot walking on rough terrains ［J］. Robot, 2014, 36(5): 584-591. (in Chinese)

[3] [3] LI M T, JIANG ZH Y, GUO W, et al.. Leg prototype of a bio-inspired quadruped robot ［J］. Robot, 2014, 36(1): 21-28. (in Chinese)

[4] [4] ZHANG X F, QIN X SH, FENG H SH, et al.. Design and experiment study on a quadruped robot single leg with composite rigid-flexible configuration for gallop gait ［J］. Robot, 2013, 35(5): 582-588. (in Chinese)

[5] [5] RAIBERT M, BLANKESPOOR K, NELSON G, et al..BigDog, the rough-terrain quadruped robot ［C］.Proceedings of the 17th IFAC World Congress. Oxford, 2008: 10822-10825.

[6] [6] PLAYER R, BUEHLER M, RAIBERT M. BigDog ［C］.Unmanned Systems. Technology . Bellingham, USA: SPIE, 2006: No.62302O.

[7] [7] KALAKRISHNAN M, BUCHLI J, PASTOR P, et al.. Learning, planning and control for quadruped locomotion over challenging terrain ［J］.International Journal of Robotics Research, 2001, 30: 236-258.

[8] [8] CHAI H, MENG J, RONG X W, et al.. Design and implementation of SCalf, an advanced hydraulic quadruped robot ［J］. Robot, 2014, 36(4): 385-391. (in Chinese)

[9] [9] LI Y B, LI B, RONG X W, et al.. Mechanical design and gait planning of a hydraulically actuated quadruped bionic robot ［J］. Journal of Shandong University (Engineering Science), 2011, 41(5): 32-36. (in Chinese)

[10] [10] SEMINI C, TSAGARAKIS N G, GUGLIELMINO E, et al.. Design of HyQ-A hydraulically and electrically actuated quadruped robot ［J］.Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2011, 255(6): 831-849.

[11] [11] SEMINI C.HyQ-Design and development of a hydraulically actuated robot ［D］. Genoa: University of Genoa, 2010.

[12] [12] YONEDA K. Light weight quadruped with nine actuators ［J］.Journal of Robotics and Mechatronics, 2007, 19(2): 160-165.

[13] [13] REN G J, CHEN W H, CHEN B, et al.. Mechanism design and analysis of cockroach robot based on double four-bar linkage ［J］. Journal of Mechanical Engineering, 2011, 47(11): 14-22. (in Chinese)

[14] [14] WANG H B, XU G L, ZHANG D F, et al.. Kinematics modeling and simulation of quadruped/biped reconfigurable walking robot with parallel leg mechanism ［J］. Journal of Yanshan University, 2010, 34(6): 508-515. (in Chinese)

[15] [15] WANG H B, XU G L, HU X, et al.. Dynamics of quadruped walking robot with parallel leg mechanism ［J］. Journal of Mechanical Engineering, 2012, 48(23): 76-82. (in Chinese)

[16] [16] WU Y F, HIGUCHI M, TAKEDA Y, et al..Develpoment of a power assist system of a walking chair(proposition of the speed-torque combination power assist system) ［J］. Journal of Robotics and Mechatronics, 2005 17(2): 189-197.

[17] [17] YONEDA K, ITO F, OTA Y, et al.. Steep slope locomotion and manipulation mechanism with minimum degrees of freedom ［C］.1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyongju, IEEE, 1999, 3: 1896-1901.

[18] [18] WANG H B, QI ZH Y, HU ZH W, et al.. Application of parallel leg mechanisms in quadruped/biped reconfigurable walking robot ［J］. Journal of Mechanical Engineering, 2009, 45(8): 24-30. (in Chinese)

[19] [19] ZHANG CH J, LI Y W. A new walking robot based on 3-RPC parallel mechanism ［J］. Journal of Mechanical Engineering, 2011, 47(15): 25-30. (in Chinese)

[20] [20] RONG Y, JIN ZH L, QU M K. Design of parallel mechanical leg of six-legged robot ［J］. Opt. Precision Eng., 2012, 20(7): 1532-1541. (in Chinese)

[21] [21] RONG Y, JIN ZH L. Static performance evaluation and optimal design of 5-DOF parallel mechanical leg ［J］. Opt. Precision Eng., 2012, 20(6): 1233-1242. (in Chinese)

[22] [22] LI Y B, LI B, RUAN J H, et al.. Research of mammal boinic quadruped robots: A review ［C］.IEEE Conference on Robotics, Automation and Mechatronics. Piscataway, IEEE, 2011: 166-171.

[23] [23] ANANTHANARAYANAN A, AZADI M, KIM S. Towards a bioinspired leg design for high-speed running ［J］.Bioinspiration & Biomimetics, 2012, 7(4): 1-12.

[24] [24] ZHOU Y L, GAO F. Configurations of humanoid robot ［J］. Journal of Mechanical Engineering, 2006, 42(11): 66-74. (in Chinese)

[25] [25] YE R, CHEN Y H, YAU W P. A simple and novel hybrid robotic system for robot-assisted femur fracture reduction ［J］.Advanced Robotics, 2012, 26(1, 2): 83-104.

[26] [26] PISLA D, GHERMAN B, VAIDA C, et al..Kinematic modelling of a 5-Dof hybrid parallel robot for laparoscopic surgery ［J］. Robotica, 2012, 30(7): 1095-1107.

[27] [27] GAO F. Think of the current research status and development tendency ［J］. Journal of Mechanical Engineering, 2005, 41(8): 3-16. (in Chinese)

[28] [28] TIAN X H, GAO F, CHEN X B, et al.. Mechanism design and comparison for quadruped robot with parallel-serial leg ［J］.Journal of Mechanical Engineering, 2013, 49(6): 81-88. (in Chinese)