Bionic quadruped robots received considerableworldwide research attention. For a quadruped robotwalkingwith steady paces on a\nflat terrain, using a camdrive controlmechanism instead of servomotors provides theoretical and practical benefits as it reduces the\nsystem weight, cost, and control complexities; thus it may be more cost beneficial for some recreational or household applications.\nThis study explores the robot step mechanism including the leg and camdrive control systems based on studying the bone structure\nand the kinematic step sequences of dog.Thedesign requirements for the camdrive robot legs have been raised, and themechanical\nprinciples of the leg operating mechanism as well as the control parameters have been analyzed. A cam drive control system was\nconstructed using three cams to control each leg. Finally, a four-leg demo robot was manufactured for experiments and it showed\nstable walking patterns on a flat floor.
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