Gear connection mechanism of walking robot, and driving force transfer mechanism of walking robot, and two degree-of-freedom mechanism of walking robot, and biomimetic walking robot having kinetic waling funciton of the same mechanism

The invention doedoe implemented such that a biomimetic-type quadruped walking relates to a robot comprising: a body with four legs biomimetic in type to quadruped walking robots, each of said leg has a knee joint including a kkeokyi to the inside of the body, wherein the lap which comprises an offset (offset) structure at the bottom of the joint, and extends in the direction of the foot and away from the first link, the first link and comprises a a shank having an elastic mechanism, in which the resilient mechanism is connected to the to the second link, the ground to absorb the reaction forces are respectively mounted to the first link and the second link to the first spring and the second spring, one end being spaced apart from each other along the length of said shank portion direction is connected with the first spring and the second external link to the internal spring, and the third switch is additionally absorbing surface is disposed between the outer link and the knee watching repulsion Ring and is characterized in that it comprises an air damper for preventing the said third internal said third spring to store half a force is compensated by a spring, and the outer link and the knee joint contact.