The lifting and propulsion mechanism of a novel biped robot inspired by the basilisk lizard's water-walking function has been developed. The movement trajectories of the Watt-I planar linkage are brought out by combining the movement equations of the four-bar mechanism and the coordinate transformation equations, which are used to simulate the foot trajectories of the basilisk lizard, and the lifting and propulsion mechanism of the biped robot walking on water is carried out. The links' parameters are optimized by taking the trajectories overlap ratio as the objective function. The prototype of the biped robot walking on water is manufactured by the results of the kinematic analysis on the robot. And the lifting and propulsion force curve on the robot from water is measured. The experiment results show that the lifting and propulsion system can satisfy the function requirement of the biped robot walking on water.
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