Multi-foot bionic robot with eight-rod metamorphic mechanism on waist and driving method

The invention discloses a multi-foot bionic robot with an eight-rod metamorphic mechanism on the waist. The multi-foot bionic robot with the eight-rod metamorphic mechanism on the waist comprises a closed chain and four or six open chains, wherein the closed chain is the eight-rod metamorphic mechanism which is formed by sequentially connecting a first rod, a second rod, a third rod, a fourth rod, a fifth rod, a sixth rod, a seventh rod and an eighth rod; the length of the first rod is equal to that of the fifth rod; the length of the second rod is equal to that of the eighth rod; the length of the third rod is equal to that of the seventh rod; the length of the fourth rod is equal to that of the sixth rod; structures of the open chains are the same; each open chain is a 2R serial mechanism, and is hinged with the corresponding rod in the closed chain through a rotating hinge; and rods in each open chain are positioned in the same plane. The eight-rod metamorphic mechanism is used for the waist of the multi-foot bionic robot, by the characteristics of variable configurations and variable degrees of freedom of the metamorphic mechanism, deformation of the waist of the multi-foot bionic robot is realized, so that waist structures of various animals can be simulated well, simulation to the various animals is realized, advantages of the various animals are integrated, and flexibility of the multi-foot bionic robot and adaptability of the multi-foot bionic robot to different terrain environments are improved.