In order to search and rescue effectively a survivor in the case of disaster scene such as gap

narrow space

etc.A ruin-through robotwith eight links mechanism based on hydraulic drive is proposed.Firstly

the ruin-through robotwith eight links mechanism with single wedge is designed and itswalking principle is explained.Secondly

the relationship between lifting force and lifting height is provided through analyzing jacking process of the robot.Then

the walking gait is analyzed through five loop state of the robot.Finally

the presented prototype is verified in a variety of simulated obstacle

and the validity of the robot is proved by the results.