Abstract: To address the issue that traditional wheeled and tracked clearing robots cannot overcome complex terrains, a patrol line sidewalk clearance robot based on quadruped robot is proposed. The operating environment and task requirements are analyzed, and based on the analysis results, a virtual prototype model of the patrol line sidewalk clearance quadruped robot is designed. The robot’s gait planning is carried out for three complex working conditions: obstacle crossing, climbing, and step climbing. The motion joint parameters are derived using the single-legged kinematic model and the dynamic model of the quadruped robot. The simulation results show that this quadruped clearance robot can operate stably under the three mentioned working conditions.