Under-actuated running gear and turning control method thereof

The invention relates to an under-actuated running gear and a turning control method thereof. The running gear comprises legs formed by inner side legs and outer side legs, the inner side legs and the outer side legs are connected by a crankshaft. The inner side legs are rotatably arranged on an inner horizontal shaft. The two outer side legs are respectively rotatably arranged on outer horizontal shafts on two ends. An elevating hip joint is fixed on the left side or the right side of an upper body platform, and comprises a sliding block, a screw motor and a sliding rail. The center of the sliding block is provided with threads. A screw passes through the middle of the sliding block. The screw is connected with the screw motor which is fixed on the upper body platform. A fixed hip joint is fixed on the right side of the left side of the upper body platform. The upper body platform is provided with four supports. The two supports on the middle are supported on two ends of a middle shaft. The middle shaft rotatably passes through two supports on the inner side of the platform. Support short shaft rotatably pass through a support on the outer side of the platform. The screw motor is on the central lower position of two supports on the left or on the right, and is fixedly connected with the platform. The running gear is low in power consumption, simple in structure, and good in stability. The running gear realizes flexible turning through simple control.