The invention relates to a double-oscillating bar flexible four-leg walking
robot. The
robot comprises a
machine body, a power supply box, a double-oscillating bar mechanism and a four flexible leg mechanisms, wherein the double-oscillating bar mechanism comprises a
machine body, a motor, a screw motor, a push frame and two oscillating bars; the flexible leg mechanisms comprise big legs, small legs, feet, springs, sliding sleeves, inner elastic plates and outer elastic plates; the
machine body, the big legs, the small legs and the feet are mutually rotatably connected in series; the motor is used for driving the four flexible leg mechanisms to
walk in a horse stance manner, when the big legs swing forwards, the big legs, the small legs and the feet are driven to mutually, flexibly reversely rotate by
ground resistance, the two elastic plates pull the slide sleeves to compress the springs, and when the feet are lifted, the springs pull the big legs, the small legs and the feet to mutually rotate forwards through the sliding sleeves and the two elastic plates until the flexible leg mechanisms are straightened to be self-locked; when the big legs swing backwards, the mutual straightening and self-locking capacities of the big legs, the small legs and the feet are improved through the
ground resistance, thereby realizing the pedaling walking of the flexible leg mechanisms; and the walking direction can be altered through changing the swing amplitude of the big legs by the screw motor. The double-oscillating bar flexible four-leg walking
robot is easy to control, simple in structure and suitable for rapidly walking on irregular pavements, and driving axles are few.