Hydraulically-driven four-leg robot travel mechanism provided with centroid adjusting device

The utility model relates to a hydraulically-driven four-leg robot travel mechanism provided with a centroidal adjusting device, comprising a body, a movablestand, a centroid adjusting device and four robot legs, wherein, the four robot legs are arranged at the lower part of the body, and the upper part of the body is connected with the movablestand through the centroid adjusting device. The utility model is characterized in that firstly, hydraulic drive ensures the robot to have higher load capacity; secondly, each leg has four active joints which provides redundant freedom of motion and ensures the robot to have higher adaptive capacity and obstacle-surmounting capacity in a complex terrain environment; thirdly, the centroid adjusting device can guarantee better stability of the robot even without additional balance weights; lastly, all the sixteen active joints of the robot are respectively driven by the same hydraulic servo cylinders, thereby the robot is simpler in structure and easier in maintenance. The utility model is applicable to transportation of military and civilian goods, antiterrorism equipment, field exploration, celestial body exploration and agricultural production.