Robot leg based on chain transmission and quadruped robot

The invention provides a robot leg based on chain transmission and a quadruped robot. The robot leg comprises a first driving unit, a second driving unit, a first driving chain wheel, a first driven chain wheel, a second driving chain wheel, a second driven chain wheel, a first transmission chain, a second transmission chain and a first tensioning device. The first driving unit and the second driving unit are matched to achieve mutual compensation of power, the output torque of the driving units is effectively reduced, a smaller motor can be used for driving the quadruped robot to move, and the robot leg has important significance on lightweight design and strong load of the quadruped robot. 本申请提供了一种基于链传动的机器人腿部和四足机器人，包括：第一驱动单元、第二驱动单元、第一驱动链轮、第一从动链轮、第二驱动链轮、第二从动链轮、第一传动链条、第二传动链条、第一张紧装置。第一驱动单元、第二驱动单元相配合实现动力的相互补偿，有效降低驱动单元的输出扭矩，可以利用更小的电机就足以驱使四足机器人运动，对四足机器人轻量化设计与强负载具有重要的意义。