mechanism representing a quadruped and act to move playing all the movements of the step of the quadruped is.

• 1. 机器四足动物的行走机构 [P] . 中国专利： CN202715243U . 2013.02.06
• 2. 仿四足动物行走玩具机构 [P] . 中国专利： CN2039989U . 1989.06.28
• 3. Conveying apparatus for removing wool from quadrupeds with travelling mechanism to move quadruped from its back to its sides [P] . NZ502953A . 2001-04-27

  机译： 用于从四足动物身上去除羊毛的输送装置，其具有行进机构，使四足动物从其背部向侧面移动

• 4. A mechanism adaptable to all kinds of quadrupedal animals or quadrupeds, Toy, to produce the same Natural Movement of walking. [P] . ES80752A1 . 1922-05-16

  机译： 一种适用于各种四足动物或四足动物Toy的机制，可以产生相同的行走自然运动。

• 5. Mechanism for reproducing all the movements of the steps of quadrupeds [P] . 美国专利： US1638332A . 1927-08-09

  机译： 再现四足动物步幅的所有运动的机制

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• 5. First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach [O] . Wen-Loong Ma, Kaveh Akbari Hamed, Aaron D. Ames 2019

• 1. Gait Analysis of Quadruped Robot Using the Equivalent Mechanism Concept Based on Metamorphosis [J] . Kun Xu ,Peijin Zi ,Xilun Ding . 中国机械工程学报 . 2019,第002期
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• 3. Mechanism of Spine Motion About Contact Time in Quadruped Running [J] . Qi Liu ,Yannian Bao ,Wei Yu . 中国机械工程学报：英文版 . 2019,第2期
• 4. Kinematics and Dynamics Analysis of a Quadruped Walking Robot with Parallel Leg Mechanism [J] . WANG Hongbo ,SANG Lingfeng ,HU Xing . 中国机械工程学报 . 2013,第005期
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• 6. 基于AAPS模型的四足动物足迹约束生成研究 [A] . 杨智为 . 2017