简介：Thispaperpresentsthedevelopmentofamesoscaleself-containedquadrupedmobilerobotthatemploystwopiecesofpiezocompositeactuatorsfortheboundinglocomotion.Thedesignoftherobotlegisinspiredbyleggedinsectsandanimals,andthebiomimeticconceptisimplementedintherobotinasimplifiedform,suchthateachlegoftherobothasonlyonedegreeoffreedom.Thelackofdegreeoffreedomiscompensatedbyaslopeoftherobotframerelativetothehorizontalplane.Fortheimplementationoftheself-containedmobilerobot,asmallpowersupplycircuitisdesignedandinstalledontherobot.Experimentalresultsshowthattherobotcanlocomoteatabout50mm·s-1withthecircuitonboard,whichcanbeconsideredasasignificantsteptowardthegoalofbuildinganautonomousleggedrobotactuatedbypiezoelectricactuators.
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