In order to solve the drawbacks of large computation

poor stability and slow convergence of traditional method used in the inverse kinematics of 12-DOF (twelve-degree-of-freedom) quadruped robot

an improved beetle antennae search algorithm is proposed. Firstly

the algorithm constrains the rotation angle of beetle's orientation for each iteration to improve the searching ability of the algorithm in multi-dimensional space. Secondly

the historical information of fitness is introduced for adaptive update step size

and the minimum step size associated with the target accuracy is set for fine search for enhancing the anaphase convergence performance. Finally

a fitness function is constructed to describe the pose error of the quadruped robot

and the inverse kinematics of the quadruped robot is solved by minimizing the fitness. Numerical results show that the present method has better convergence

higher accuracy when solving the inverse kinematics problem of 12-DOF quadruped robot.