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This work presents a mathematical model that describes the movement of robots with four limbs (tetrapods). The relevance of the publication is justified by the popularity and increased demand for robotic devices used in production and everyday life. The main advantage of these machines is the ability to move over rough terrain, so are often used to perform transport and loading operations. The authors considered the most common movement scheme, taking into account the features of the kinematic scheme of this type devices. Tasks of transforming the coordinates of legs contact points of the supporting surface are formulated and solved to form tasks for controlling servo drives. The resulting mathematical expressions are universal for the considered robots and allow their statically stable movement in all directions and turning through a given angle. The obtained results can be used in development of algorithms of control programs for different microprocessor systems, in design of kinematics of these devices, in selection of optimal electromechanical equipment, as well as in creation of similar mathematical models for other types of walking robots. The materials of the article can be useful for engineers and scientists in the field of robotics and automation.

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