Quadruped in comparison with the majority of others animals, it has the ability to access to any kind of environment where others living creatures or even humans can’t access. Those bio-inspired attributes are taken into this project in order to design and develop a quadruped robot with the abilities to move in all kind of directions like ascend or descend, avoid obstacles, etc. Combining these skills of the quadruped animals with the ability of continuously monitoring the carbon dioxide, the results can be determinants. This paper presents the dynamic and kinematics model in addition with the measurement scheme of the carbon dioxide index, with the purpose of establish a mechanical sturdy device, which can be monitoring an important variable. As a result, we studied the movement of real animals, so we can define a suitable bio-mimetic model for our robot.