Abstract:Foot shoes robot is designed in the way of movement of track and leg combination, which possessed of both the common advantages of track and legged robots. The simplified model of biped robot of track for each foot in three degrees of freedom (3-DOF) was established by using ADAMS. According to the characteristics of walking gait, walking motion equation was established reasonably, the foot and toe movement were made in the starting point and ending point to avoid impact stably in motion. By the motion equation, the movement trajectory equation of joint was obtained reversibly. Simulation is carried out on the biped robot of track by using ADAMS, to verify the feasibility of movement mechanism design scheme.