Quadruped robot based on series-parallel connection rod spring leg structure

The utility model relates to the technical field of robots, in particular to a quadruped robot based on a series-parallel connection rod spring leg structure, which comprises a control system, a robot body and four series-parallel connection legs with the same structure, the control system is arranged on the robot body, and the four series-parallel connection legs are symmetrically arranged on the left side and the right side of the robot body in pairs. Each series-parallel leg comprises two motors, a first cylinder connecting rod, a second cylinder connecting rod, a third cylinder connecting rod and a spring leg, and the two motors are connected through a coupler and electrically connected with the control system; the third cylinder connecting rod is hinged to the end, away from the coupler, of the first cylinder connecting rod, the spring leg is hinged to the end, away from the coupler, of the second cylinder connecting rod, and the end, away from the first cylinder connecting rod, of the third cylinder con