Abstract: In recent years, due to the special working environment in coal mine, coal mine underground robot has become the focus of R&D personnel all over the world. As a kind of robot, quadruped robot has attracted a lot of attention at home and abroad because of its simple structure and high adaptability. In order to assist people to work underground and complete dangerous tasks, a quadruped robot system for complex tasks such as underground inspection and handling in coal mine is designed. Firstly, complete the relevant basic theoretical analysis, including quadruped robot body design, quadruped robot kinematics modeling and quadruped robot static gait planning; Secondly, the key technologies related to autonomous perception, autonomous decision-making and autonomous control of multi-functional special quadruped robot in coal mine are studied; Finally, the virtual simulation planning system of quadruped robot, the virtual monitoring system of quadruped robot and the physical system of quadruped robot are constructed. The solid prototype of quadruped robot is made, and the system integration test is completed. The results show that the quadruped robot has reasonable structure and perfect function, has good adaptability to complex geological conditions underground, can complete environmental perception and adaptive obstacle avoidance walking in unknown underground environment, and can complete complex work. The virtual simulation planning system provides information and reference for the autonomous execution of the robot, and the virtual monitoring system provides three-dimensional running state monitoring and remote visual human-computer interaction interface for the robot. The design of virtual dimension provides digital twin platform support and solution for underground complex operation, and plays a positive role in intelligent and unmanned mining of coal mine.