In order to improve the walking stability

a kind of bionic leg structure is designed on the basis of the bionic analysis of the horse leg.Based on the robot single leg kinematics model

the foot trajectory is planned by using the cycloid function.The variations of displacement

velocity

acceleration with time of the robot are analyzed

which proved that the requirements for improving walking stability is satisfied.The results will provide theoret ical basis for the following stability experiments of the quadruped robot.