Abstract: Aiming at achieving the stable walking of a hydraulic driving quadruped robot, according
to the principle of stability margin, a linear and turning gait planning for JQRI00 quadruped robot
were researched. The virtual prototype of JQRI00 quadruped robot were established according to the
structure characteristics of quadruped robot, and the linear gait simulation of virtual prototype was
carried out by using ADAMS. The simulation results show that the gait planning is correct and
feasible, which achieves the stable walking and lays a foundation for the control of the robot in the
later stage.

Key words: quadruped robot, virtual prototype, gait planning, kinematic analysis