A bionic lizard robot and a crawling control method thereof

Abstract

The present application relates to a kind of bionic lizard robot and its crawling control method, solve the problem that existing bionic lizard robot lacks the cooperation of waist torsion and limb movement.This device includes forebody and hindbody, the forebody is provided with forelimb connecting rod, the left and right ends of forelimb connecting rod are respectively connected with left forepaw and right forepaw, the forebody is provided with forelimb servo, and the output shaft of forelimb servo is connected with forelimb connecting rod;The rear part of the hindbody is provided with hindlimb connecting rod, and the left and right ends of hindlimb connecting rod are respectively connected with left hindpaw and right hindpaw, and the rear part of the hindbody is provided with hindlimb servo, and hindlimb servo is connected with hindlimb connecting rod;Torsion servo is arranged between forebody and hindbody.The present application uses torsion servo between forebody and hindbody to cooperate with forelimb servo and hindlimb servo of forebody and hindbody to realize simulation crawling, and the structure is simple and reliable, control is simple, action is flexible, and simulation degree is high, so it is an ideal bionic lizard robot.

Description

Technical Field

[0001] This invention belongs to the field of robotics, and relates to a biomimetic robot, particularly a biomimetic lizard robot and its crawling control method. Background Technology

[0002] Animal-inspired bionic robots, as an important branch of the field of robotics, have broad application prospects in environmental detection, scientific research and teaching, and competitions. Among them, the bionic lizard robot has become one of the research hotspots due to its flexible movement and strong terrain adaptability.

[0003] Existing biomimetic lizard robots are mostly limited to simple imitation of quadrupedal crawling, achieving basic movement only by controlling the swinging of the limbs. They neglect the coordinated action of waist twisting and limb movement during actual lizard crawling, resulting in low crawling efficiency and unnatural movement postures in traditional biomimetic lizard robots. Traditional solutions also have many structural design shortcomings. To replicate the leg lifting and stride movements of a lizard, traditional biomimetic lizard robots use multiple servo motors to perform these actions separately. For example, Chinese patent CN115009389A uses multiple different actuators on a single leg, such as limb driver C1, limb driver C2, limb driver C3, and limb driver C4, each performing different actions. This not only increases the complexity of the mechanical transmission and control program design but also easily leads to assembly errors due to the excessive number of components, reducing the reliability of the drive system. Summary of the Invention

[0004] The purpose of this invention is to solve the problems of existing biomimetic lizard robots lacking the coordinated action of waist twisting and limb movement, and having complex limb movement control structure designs. This invention provides a biomimetic lizard robot and its crawling control method, which achieves alternating leg lifting movements of the front and rear legs through small-amplitude waist twisting control, and controls the stepping of the leg off the ground during the leg lifting process, thereby enabling the robot to crawl rapidly with alternating limbs in a lizard-like manner. The robot has a simple structure, flexible movements, and high reliability.

[0005] The technical solution adopted by this invention to solve its technical problem is as follows: a biomimetic lizard robot, comprising a forebody and a hindbody, wherein the forebody is provided with forelimb connecting rods that run horizontally through both sides of the forebody, and the left and right ends of the forelimb connecting rods are respectively connected to the left forepaw and the right forepaw; the forebody is provided with forelimb servo motors, the output shaft of which is vertically arranged and connected to the middle of the forelimb connecting rods; the rear of the hindbody is provided with hindlimb connecting rods that run horizontally through both sides of the hindbody, the left and right ends of which are respectively connected to the left and right hindaws; the rear of the hindbody is provided with hindlimb servo motors, the output shaft of which is vertically arranged and connected to the middle of the hindlimb connecting rods; a torsion servo motor is provided between the forebody and the hindbody, and the torsion servo motor is horizontally arranged in the front-back direction.

[0006] The torsion servo can control the lifting of one side of the forebody and hindbody by rotating forward and backward, with the lifted sides in opposite directions. This allows the forelimb and hindlimb servos to control the forward and backward steps of the lifted sides, respectively. By alternating the lifting of both sides of the forebody and hindbody using the torsion servo, rapid crawling with alternating forelimbs on both sides can be achieved. This device features a simple and reliable structure, concise control, flexible movement, and high simulation accuracy, making it an ideal biomimetic lizard robot.

[0007] Preferably, the torsion servo is located at the front end of the rear body, and the output shaft of the torsion servo extends forward and connects to the rear end of the front body.

[0008] Preferably, the front end of the forebody is provided with a head structure, and the head structure is provided with one or more of a vision module and a radar module.

[0009] Preferably, the rear end of the hindquarters is connected to a tail structure, which is a multi-segment serial structure. The rear end of the hindquarters is provided with a vertical tail shaft, and the middle part of the front end of the tail structure is swung and sleeved on the tail shaft. The two sides of the front end of the tail structure are hinged to the two sides of the hind limb connecting rod through a tail follower connecting rod.

[0010] Preferably, both ends of the forelimb link and the hindlimb link are provided with downwardly extending bent sections.

[0011] Preferably, a power supply and control board are also provided inside the front or rear body.

[0012] Preferably, the rear body has a swing joint between the torsion servo and the rear limb servo, and a vertical swing axis is provided at the swing joint. The front part and the rear part of the rear body swing relative to each other around the swing axis, and a swing servo is provided at the swing axis.

[0013] A crawling control method for a biomimetic lizard robot, used to control the aforementioned biomimetic lizard robot, includes the following steps:

[0014] S1, initial state: the forebody and hindbody are kept in a straight line and both are horizontal;

[0015] S2, rotate the servo forward to the positive angle, raise the right side of the forebody and the left side of the hindbody, rotate the forelimb servo forward, causing the right end of the forelimb linkage to rotate forward, at which point the left forefoot touches the ground to form support, and the right forefoot steps forward; rotate the hindlimb servo in reverse, causing the left end of the hindlimb linkage to rotate forward, at which point the right hindfoot touches the ground to form support, and the left hindfoot steps forward.

[0016] S3, the torso servo rotates in the opposite direction to a negative angle, the left side of the forebody is raised, and the right side of the hindbody is raised at the same time. The forelimb servo rotates in reverse, causing the left end of the forelimb linkage to rotate forward. At this time, the right forefoot lands on the ground to form support, and the left forefoot steps forward. The hindlimb servo rotates in the forward direction, causing the right end of the hindlimb linkage to rotate forward. At this time, the left hindfoot lands on the ground to form support, and the right hindfoot steps forward.

[0017] S4, repeat S2-S3 to achieve alternating crawling with the left and right feet.

[0018] As a preferred option, during straight crawling, the stride length of the left forefoot and right forefoot remains consistent in each cycle of S2-S3, that is, the rotation angle of the forward and reverse rotation of the forelimb servo motor remains consistent, and the stride length of the left hindfoot and right hindfoot remains consistent, that is, the rotation angle of the forward and reverse rotation of the hindfoot servo motor remains consistent.

[0019] When crawling to the right, in each cycle of S2-S3, the stride of the right forefoot is smaller than that of the left forefoot, that is, the forward rotation angle of the forelimb servo is smaller than the reverse rotation angle, and the stride of the right hindfoot is smaller than that of the left hindfoot, that is, the forward rotation angle of the hindfoot servo is smaller than the reverse rotation angle.

[0020] When crawling to the left, in each cycle of S2-S3, the stride of the right forefoot is greater than that of the left forefoot, meaning the forward rotation angle of the forelimb servo is greater than the reverse rotation angle. Similarly, the stride of the right hindfoot is greater than that of the left hindfoot, meaning the forward rotation angle of the hindfoot servo is greater than the reverse rotation angle.

[0021] A crawling control method for a biomimetic lizard robot, used to control the aforementioned biomimetic lizard robot, includes the following steps:

[0022] S1, initial state: the forebody and hindbody are kept in a straight line and both are horizontal;

[0023] S2, rotate the torso forward to the positive angle, raise the right side of the forebody and the left side of the hindbody, rotate the forelimb servo forward, causing the right end of the forelimb linkage to rotate forward, at which point the left forefoot touches the ground to form support, and the right forefoot steps forward; rotate the hindlimb servo in reverse, causing the left end of the hindlimb linkage to rotate forward, at which point the right hindfoot touches the ground to form support, and the left hindfoot steps forward; at the same time, rotate the swing servo forward, with the swing axis as the center, the forebody and the front of the hindbody swing to the left relative to each other, and the rear of the hindbody swing to the right relative to each other, forming an arc-shaped body posture with the waist protruding to the right, sending the right forefoot and left hindfoot forward, increasing the stride length per step;

[0024] S3, the torso servo rotates in the opposite direction to a negative angle, the left side of the forebody is raised, and the right side of the hindbody is raised at the same time. The forelimb servo rotates in the opposite direction, causing the left end of the forelimb linkage to rotate forward. At this time, the right forefoot lands on the ground to form support, and the left forefoot steps forward. The hindlimb servo rotates in the forward direction, causing the right end of the hindlimb linkage to rotate forward. At this time, the left hindfoot lands on the ground to form support, and the right hindfoot steps forward. At the same time, the swing servo rotates in the opposite direction. With the swing axis as the center, the forebody and the front of the hindbody swing to the right relative to each other, and the rear of the hindbody swings to the left relative to each other, forming an arc-shaped body posture with the waist protruding to the left, sending the left forefoot and the right hindfoot forward, increasing the stride length of a single step.

[0025] S4, repeat S2-S3 to achieve alternating crawling with the left and right feet.

[0026] This invention uses a torsion servo motor between the front and rear bodies, combined with the forelimb and hindlimb servo motors of the front and rear bodies, to achieve simulated crawling. It has a simple and reliable structure, simple control, flexible movement, and high simulation degree, making it an ideal biomimetic lizard robot. Attached Figure Description

[0027] The invention will now be further described with reference to the accompanying drawings.

[0028] Figure 1 This is a schematic diagram of the first structure of the present invention.

[0029] Figure 2 This is a schematic diagram of the side structure of the forebody of the first structure of the present invention.

[0030] Figure 3 This is a schematic diagram of the rear body side structure of the first structure of the present invention.

[0031] Figure 4 This is a schematic diagram of the first type of torsion servo mechanism of the present invention.

[0032] Figure 5 This is an exploded view of the crawling process of the first structure of the present invention.

[0033] Figure 6 This is a schematic diagram of the second structure of the present invention.

[0034] Figure 7 This is a schematic diagram of a stepping state in the second structure of the present invention.

[0035] In the diagram: 1. Forequarters, 2. Rearquarters, 3. Forelimb link, 4. Rearlimb link, 5. Forelimb servo, 6. Rearlimb servo, 7. Torsion servo, 8. Head structure, 9. Tail structure, 10. Follower link, 11. Left forefoot, 12. Right forefoot, 13. Left hindfoot, 14. Right hindfoot, 15. Tail shaft, 16. Output shaft of the torsion servo, 17. Swing joint, 18. Swing servo, 19. Rear of the rearquarters, 20. Front of the rearquarters. Detailed Implementation

[0036] The present invention will be further described below with reference to specific embodiments and accompanying drawings.

[0037] Example 1: A biomimetic lizard robot, as shown in Figures 1-4. This device includes a forebody 1 and a hindbody 2. The forebody 1 is provided with forelimb connecting rods 3 that extend laterally through both sides of the forebody. The left and right ends of the forelimb connecting rods 3 are respectively connected to a left forepaw 11 and a right forepaw 12. The forebody 1 is provided with forelimb servo motors 5. Figure 2 As shown, the output shaft of the forelimb servo motor 5 is vertically positioned and connected to the middle of the forelimb link 3. Both ends of the forelimb link 3 have downwardly extending bent sections.

[0038] The rear of the rear body 2 is provided with a hind limb connecting rod 4 that runs horizontally through both sides of the rear body. The left and right ends of the hind limb connecting rod 4 are respectively connected to the left hind foot 13 and the right hind foot 14. The rear of the rear body 2 is provided with a hind limb servo motor 6. Figure 3 As shown, the output shaft of the hind limb servo 6 is vertically positioned and connected to the middle of the hind limb link 4. A tail structure 9 is connected to the rear end of the rear body 2. The tail structure 9 is a multi-segment series structure. A vertical tail shaft 15 is located at the rear end of the rear body 2. The middle of the front end of the tail structure 9 is pivotally mounted on the tail shaft 15. The two sides of the front end of the tail structure 9 are hinged to the two sides of the hind limb link 4 via tail follower links 10. Both ends of the hind limb link 4 have downwardly extending bent sections.

[0039] like Figure 1 , 4 As shown, a torsion servo 7 is provided between the front body 1 and the rear body 2, and the torsion servo is horizontally arranged in the front-rear direction. The torsion servo 7 is located at the front end of the rear body 2, and the output shaft 16 of the torsion servo extends forward and connects to the rear end of the front body 1.

[0040] like Figure 1 As shown, a head structure 8 is provided at the front end of the forebody 1, and one or more of a vision module and a radar module are provided inside the head structure. A power supply and a control board are also provided inside the forebody 1 or the rearbody 2.

[0041] Example 2: A crawling control method for a biomimetic lizard robot, applicable to the biomimetic lizard robot described in Example 1, such as... Figure 5 As shown, it includes the following steps:

[0042] S1, Initial state: The forebody and hindbody are aligned in a straight line and both remain horizontal, as shown below. Figure 5 As shown in 'a';

[0043] S2, the servo is rotated forward to a positive angle, the right side of the front body rises, and at the same time the left side of the rear body rises, as shown. Figure 5 As shown in b; the forelimb servo rotates clockwise, causing the right end of the forelimb linkage to rotate forward, at which point the left forefoot touches the ground for support, and the right forefoot steps forward; the hindlimb servo rotates counterclockwise, causing the left end of the hindlimb linkage to rotate forward, at which point the right hindfoot touches the ground for support, and the left hindfoot steps forward, as shown in b. Figure 5 c in Figure 5 As shown in d;

[0044] S3, the servo motor is rotated in the opposite direction to a negative angle, the left side of the front body rises, and at the same time the right side of the rear body rises, as shown. Figure 5 As shown in 'e'; the forelimb servo rotates in reverse, causing the left end of the forelimb linkage to rotate forward, at which point the right forefoot lands to provide support, and the left forefoot steps forward; the hindlimb servo rotates in the forward direction, causing the right end of the hindlimb linkage to rotate forward, at which point the left hindfoot lands to provide support, and the right hindfoot steps forward, as shown in 'e'; Figure 5 f in Figure 5 As shown in g;

[0045] S4, repeat S2-S3 to achieve alternating crawling with the left and right feet;

[0046] S5, until crawling to the end position, the torsion servo, forelimb servo, and hindlimb servo return to their initial state, as shown. Figure 5 As shown in h.

[0047] In steps S2-S3, during straight-line crawling, the stride length of the left and right forefoot remains consistent in each cycle of S2-S3, meaning the forward and reverse rotation angles of the forelimb servo motors remain consistent. Similarly, the stride length of the left and right hindfoot remains consistent, meaning the forward and reverse rotation angles of the hindlimb servo motors remain consistent. During right-turn crawling, the stride length of the right forefoot is shorter than that of the left forefoot in each cycle of S2-S3, meaning the forward rotation angle of the forelimb servo motor is shorter than the reverse rotation angle. The stride length of the right hindfoot is also shorter than that of the left hindfoot, meaning the forward rotation angle of the hindlimb servo motor is shorter than the reverse rotation angle. During left-turn crawling, the stride length of the right forefoot is longer than that of the left forefoot in each cycle of S2-S3, meaning the forward rotation angle of the forelimb servo motor is longer than the reverse rotation angle. The stride length of the right hindfoot is also longer than that of the left hindfoot, meaning the forward rotation angle of the hindlimb servo motor is longer than the reverse rotation angle.

[0048] Example 3: A biomimetic lizard robot, as shown in Figure 6. In this example, the hindquarters 2 of the biomimetic lizard robot has a swing joint 17 between a torsion servo 7 and a hind limb servo 6. A vertical swing axis is provided at the swing joint, and the front and rear parts of the hindquarters swing relative to each other around the swing axis. A swing servo 18 is provided at the swing axis. The remaining structure is the same as that of Example 1, that is:

[0049] This device includes a forebody 1 and a rearbody 2. The forebody 1 is provided with a forelimb connecting rod 3 that runs horizontally through both sides of the forebody. The left and right ends of the forelimb connecting rod 3 are respectively connected to the left forefoot 11 and the right forefoot 12. The forebody 1 is provided with a forelimb servo motor 5. The output shaft of the forelimb servo motor 5 is vertically arranged and connected to the middle of the forelimb connecting rod 3. Both ends of the forelimb connecting rod 3 are provided with downwardly extending bent sections.

[0050] The rear of the rear body 2 is provided with a hind limb connecting rod 4 that runs horizontally through both sides of the rear body. The left and right ends of the hind limb connecting rod 4 are respectively connected to the left hind foot 13 and the right hind foot 14. The rear of the rear body 2 is provided with a hind limb servo 6. The output shaft of the hind limb servo 6 is vertically arranged and connected to the middle of the hind limb connecting rod 4. The rear end of the rear body 2 is connected to a tail structure 9, which is a multi-segment serial structure. The rear end of the rear body 2 is provided with a vertical tail shaft 15. The middle of the front end of the tail structure 9 is swung and sleeved on the tail shaft 15. The two sides of the front end of the tail structure 9 are hinged to the two sides of the hind limb connecting rod 4 through a tail follower connecting rod 10. The two ends of the hind limb connecting rod 4 are provided with downwardly extending bent sections.

[0051] A torsion servo 7 is provided between the front body 1 and the rear body 2, and the torsion servo is horizontally arranged in the front-rear direction. The torsion servo 7 is located at the front end of the rear body 2, and the output shaft 16 of the torsion servo extends forward and connects to the rear end of the front body 1.

[0052] The front end of the forebody 1 is provided with a head structure 8, which contains one or more of a vision module and a radar module. A power supply and control board are also provided inside the forebody 1 or the rearbody 2.

[0053] Example 4: A crawling control method for a biomimetic lizard robot, applicable to the biomimetic lizard robot described in Example 3, comprising the following steps:

[0054] S1, initial state: the forebody and hindbody are kept in a straight line and both are horizontal;

[0055] S2, the torso servo rotates clockwise to a positive angle, raising the right side of the forebody and simultaneously raising the left side of the hindbody. The forelimb servo rotates clockwise, causing the right end of the forelimb linkage to rotate forward. At this moment, the left forefoot lands to provide support, and the right forefoot steps forward. The hindlimb servo rotates counterclockwise, causing the left end of the hindlimb linkage to rotate forward. At this moment, the right hindfoot lands to provide support, and the left hindfoot steps forward. Simultaneously, the swing servo rotates clockwise, and around the swing axis, the forebody and hindbody swing to the left relative to each other, and the hindbody swings to the right relative to each other, forming an arc-shaped posture with the waist protruding to the right, pushing the right forefoot and left hindfoot forward, increasing the stride length per step. Figure 7 As shown;

[0056] S3, the torso servo rotates in the opposite direction to a negative angle, the left side of the forebody is raised, and the right side of the hindbody is raised at the same time. The forelimb servo rotates in the opposite direction, causing the left end of the forelimb linkage to rotate forward. At this time, the right forefoot lands on the ground to form support, and the left forefoot steps forward. The hindlimb servo rotates in the forward direction, causing the right end of the hindlimb linkage to rotate forward. At this time, the left hindfoot lands on the ground to form support, and the right hindfoot steps forward. At the same time, the swing servo rotates in the opposite direction. With the swing axis as the center, the forebody and the front of the hindbody swing to the right relative to each other, and the rear of the hindbody swings to the left relative to each other, forming an arc-shaped body posture with the waist protruding to the left, sending the left forefoot and the right hindfoot forward, increasing the stride length of a single step.

[0057] S4, repeat S2-S3 to achieve alternating crawling with the left and right feet;

[0058] S5, until crawling to the end position, the torsion servo, forelimb servo, and hindlimb servo return to their initial state.

[0059] In steps S2-S3, during straight-line crawling, the stride length of the left and right forefoot remains consistent in each cycle of S2-S3, meaning the forward and reverse rotation angles of the forelimb servo motors remain consistent. Similarly, the stride length of the left and right hindfoot remains consistent, meaning the forward and reverse rotation angles of the hindlimb servo motors remain consistent. During right-turn crawling, the stride length of the right forefoot is shorter than that of the left forefoot in each cycle of S2-S3, meaning the forward rotation angle of the forelimb servo motor is shorter than the reverse rotation angle. The stride length of the right hindfoot is also shorter than that of the left hindfoot, meaning the forward rotation angle of the hindlimb servo motor is shorter than the reverse rotation angle. During left-turn crawling, the stride length of the right forefoot is longer than that of the left forefoot in each cycle of S2-S3, meaning the forward rotation angle of the forelimb servo motor is longer than the reverse rotation angle. The stride length of the right hindfoot is also longer than that of the left hindfoot, meaning the forward rotation angle of the hindlimb servo motor is longer than the reverse rotation angle.

Claims

1. A biomimetic lizard robot, characterized in that, The device includes a forebody and a rearbody. The forebody has a forelimb link that runs horizontally through both sides of the forebody, with the left and right forefeet connected to its left and right ends, respectively. The forebody also has a forelimb servo, the output shaft of which is vertically connected to the middle of the forelimb link. The rear of the rearbody has a hindlimb link that runs horizontally through both sides of the rearbody, with the left and right hind feet connected to its left and right ends, respectively. The rear of the rearbody also has a hindlimb servo, the output shaft of which is vertically connected to the middle of the hindlimb link. A torsion servo is located between the forebody and the rearbody, and the torsion servo is horizontally positioned along the front-to-back direction. The crawling control method for the biomimetic lizard robot includes the following steps: S1, initial state: the forebody and hindbody are kept in a straight line and both are horizontal; S2, rotate the servo forward to the positive angle, raise the right side of the forebody and the left side of the hindbody, rotate the forelimb servo forward, causing the right end of the forelimb linkage to rotate forward, at which point the left forefoot touches the ground to form support, and the right forefoot steps forward; rotate the hindlimb servo in reverse, causing the left end of the hindlimb linkage to rotate forward, at which point the right hindfoot touches the ground to form support, and the left hindfoot steps forward. S3, the torso servo rotates in the opposite direction to a negative angle, the left side of the forebody is raised, and the right side of the hindbody is raised at the same time. The forelimb servo rotates in reverse, causing the left end of the forelimb linkage to rotate forward. At this time, the right forefoot lands on the ground to form support, and the left forefoot steps forward. The hindlimb servo rotates in the forward direction, causing the right end of the hindlimb linkage to rotate forward. At this time, the left hindfoot lands on the ground to form support, and the right hindfoot steps forward. S4, repeat S2-S3 to achieve alternating crawling with the left and right feet.

2. The biomimetic lizard robot according to claim 1, characterized in that, The torsion servo is located at the front end of the rear body, and the output shaft of the torsion servo extends forward and connects to the rear end of the front body.

3. The biomimetic lizard robot according to claim 1, characterized in that, The front end of the forebody is provided with a head structure, and the head structure is provided with one or more of a vision module and a radar module.

4. The biomimetic lizard robot according to claim 1, characterized in that, The rear end of the hindquarters is connected to a tail structure, which is a multi-segment serial structure. The rear end of the hindquarters is provided with a vertical tail shaft. The middle part of the front end of the tail structure is swung and sleeved on the tail shaft. The two sides of the front end of the tail structure are hinged to the two sides of the hind limb connecting rod through the tail follower connecting rod.

5. A biomimetic lizard robot according to claim 1, characterized in that, Both ends of the forelimb link and the hindlimb link are provided with downwardly extending bent sections.

6. The biomimetic lizard robot according to claim 1, characterized in that, The interior of the forebody or rearbody also contains a power supply and a control board.

7. A biomimetic lizard robot according to claim 1, characterized in that, The rear body has a swing joint between the torsion servo and the hind limb servo, and a vertical swing axis is provided at the swing joint. The front and rear parts of the rear body swing relative to each other around the swing axis, and a swing servo is provided at the swing axis.

8. A biomimetic lizard robot according to claim 1, characterized in that, In the crawling control method of the biomimetic lizard robot, when crawling in a straight line, the stride length of the left and right forelimbs remains consistent in each cycle of S2-S3, that is, the rotation angle of the forward and reverse rotation of the forelimb servo motor remains consistent. The stride length of the left and right hindlimbs remains consistent, that is, the rotation angle of the forward and reverse rotation of the hindlimb servo motor remains consistent. When crawling to the right, in each cycle of S2-S3, the stride of the right forefoot is smaller than that of the left forefoot, that is, the forward rotation angle of the forelimb servo is smaller than the reverse rotation angle, and the stride of the right hindfoot is smaller than that of the left hindfoot, that is, the forward rotation angle of the hindfoot servo is smaller than the reverse rotation angle. When crawling to the left, in each cycle of S2-S3, the stride of the right forefoot is greater than that of the left forefoot, meaning the forward rotation angle of the forelimb servo is greater than the reverse rotation angle. Similarly, the stride of the right hindfoot is greater than that of the left hindfoot, meaning the forward rotation angle of the hindfoot servo is greater than the reverse rotation angle.

9. A biomimetic lizard robot according to claim 7, characterized in that, The biomimetic lizard robot control method includes the following steps: S1, initial state: the forebody and hindbody are kept in a straight line and both are horizontal; S2, rotate the torso forward to the positive angle, raise the right side of the forebody and the left side of the hindbody, rotate the forelimb servo forward, causing the right end of the forelimb linkage to rotate forward, at which point the left forefoot touches the ground to form support, and the right forefoot steps forward; rotate the hindlimb servo in reverse, causing the left end of the hindlimb linkage to rotate forward, at which point the right hindfoot touches the ground to form support, and the left hindfoot steps forward; at the same time, rotate the swing servo forward, with the swing axis as the center, the forebody and the front of the hindbody swing to the left relative to each other, and the rear of the hindbody swing to the right relative to each other, forming an arc-shaped body posture with the waist protruding to the right, sending the right forefoot and left hindfoot forward, increasing the stride length per step; S3, the torso servo rotates in the opposite direction to a negative angle, the left side of the forebody is raised, and the right side of the hindbody is raised at the same time. The forelimb servo rotates in the opposite direction, causing the left end of the forelimb linkage to rotate forward. At this time, the right forefoot lands on the ground to form support, and the left forefoot steps forward. The hindlimb servo rotates in the forward direction, causing the right end of the hindlimb linkage to rotate forward. At this time, the left hindfoot lands on the ground to form support, and the right hindfoot steps forward. At the same time, the swing servo rotates in the opposite direction. With the swing axis as the center, the forebody and the front of the hindbody swing to the right relative to each other, and the rear of the hindbody swings to the left relative to each other, forming an arc-shaped body posture with the waist protruding to the left, sending the left forefoot and the right hindfoot forward, increasing the stride length of a single step. S4, repeat S2-S3 to achieve alternating crawling with the left and right feet.

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