The parallel legs of quadruped robot have good structural stiffness

accurate movement and strong bearing capacity

but the control is difficult. In order to solve the control and performance optimization problems of parallel-legged quadruped robot

the planar 2DOF 5R parallel leg mechanical structure of a quadruped robot is analyzed in this paper

with the Spring-Load Inverted Pendulum model control

the SLIP model is equivalently extended to the trot gait control of the quadruped robot. The genetic algorithm was used to optimize the relevant system parameters of SLIP with energy loss and motion error as the fitting functions

and the influence of the system parameters on the energy loss and motion error was summarized. Simulation result displays that the maximum errors of the four-legged robot′s motion speed

jumping height and body pitching position on the flat are 1.95%

2.36% and 0.47° respectively.