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四足步行机器人在高速步行时，地面对其产生了很大的冲击，引入弹性步行机构是减少冲击的关键．将一种新型弹性步行机构应用于四足步行机器人中，分析其工作原理，并研究其控制电路．进而以Ｐａｃｉｎｇ步态为例，对弹性步行机构的缓冲和储能功能进行了理论探讨和实验分析，并在对刚性腿和弹性腿对比研究的基础上，指出将弹性步行机构应用于四足步行机器人具有独特的优越性．
The quadruped walking robot has a great impact on the ground during walking at high speed. The introduction of a flexible walking mechanism is the key to reduce the impact. A new type of elastic walking mechanism is applied to a four-legged walking robot to analyze its working principle and study its control circuit. Then taking Pacing gait as an example, this paper theoretically explores and analyzes the cushioning and energy storage functions of flexible walking mechanism. Based on the comparative study of rigid legs and elastic legs, it is pointed out that the application of elastic walking mechanism to four-foot walking Robots have unique advantages.