中文摘要：

对一种新型的四足变结构机器人进行了运动学分析．首先建模分析了单条腿的运动速度；然后综合考虑机器人车身本体的运动和变形以及四条腿的运动状态，对机器人整体进行了运动学分析，提出并建立了机器人的全局速度方程；最后将全局速度方程应用到机器人的速度分解控制中，使该控制方法的应用领域从串联机器人扩展到多足移动（串并混联）机器人，并以变结构四足机器人的车身原地收缩运动为例，验证了这种方法的可行性．

英文摘要：

A novel quadruped robot with variable structure was analyzed by kinematic methods. First, the velocity of a single leg was studied. Then the kinematics of the whole robot was discussed, and a globe velocity equation was proposed and established with considering the transformation and motion of the robot＇ s body and four legs. At last, the method of velocity decomposition control, which is usually used in the serial-chain manipulator control, was generalized to the legged mobile robot （serial and parallel hybrid mechanism） control through applying the globe velocity equation. The contraction of the robot＇ s body with four feet fixed on the ground was taken as an example to demonstrate the feasibility of this approach.