Review of Quadruped Robots for Dynamic Locomotion
Qiayuan Liao
TL;DR
This paper reviews various quadruped robots, discussing their mechanical design, actuation, and control systems to provide an overview of current technologies in dynamic locomotion.
Contribution
It offers a comprehensive overview of existing quadruped robots, highlighting their mechanical and control features, which aids future research and development.
Findings
Detailed comparison of robot structures and actuation methods
Insights into control strategies for dynamic locomotion
Identification of key challenges in quadruped robot design
Abstract
This review introduces quadruped robots: MITCheetah, HyQ, ANYmal, BigDog, and their mechanical structure, actuation, and control.
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Taxonomy
TopicsRobotic Locomotion and Control · Control and Dynamics of Mobile Robots · Modular Robots and Swarm Intelligence