Gait Planning and Load-Bearing Capacity Analysis of Bionic Quadrupedal Robot Actuated by Water Hydraulic Artificial Muscles

The gecko-inspired crawling robot driven by water hydraulic artificial muscles (WHAMs) incorporates the stable structural characteristics of geckos, making it particularly suitable for operation in aquatic environments. Conventional crawling robots typically employ electric or oil hydraulic actuation systems, which require complex sealing and waterproof designs when working in water. This study presented a bionic quadruped robot actuated by WHAMs that fundamentally circumvents waterproofing challenges. Although the joint module can dynamically adjust its output torque according to requirements, there has been a lack of theoretical basis for load adjustment. This research established the relationship between the leg joint load and the WHAM pressure difference, resulting in a pressure difference–load model for the leg joint. Through gait planning analysis, the maximum supporting force during robot motion was determined. Experimental tests on a single-leg prototype demonstrated a maximum static load capacity of 23 kg under stationary conditions, while during cycloidal motion the dynamic load capacity reached 10 kg. Both values satisfied the supporting force requirements of the planned gait. Furthermore, the pressure difference–load model showed good agreement with experimental results, providing theoretical guidance for load adjustment in leg joints.