A survey of the development of quadruped robots: Joint configuration, dynamic locomotion control method and mobile manipulation approach
Some quadruped robots developed recently show better dynamic performance and environmental adaptability than ever, and have been preliminarily applied in the field of emergency disposal, military reconnaissance and infrastructure construction. The development route, mechanisms design, control method...
| Main Authors: | , , , , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2022-03-01
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| Series: | Biomimetic Intelligence and Robotics |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2667379721000292 |
| _version_ | 1811329218983755776 |
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| author | Hui Chai Yibin Li Rui Song Guoteng Zhang Qin Zhang Song Liu Jinmian Hou Yaxian Xin Ming Yuan Guoxuan Zhang Zhiyuan Yang |
| author_facet | Hui Chai Yibin Li Rui Song Guoteng Zhang Qin Zhang Song Liu Jinmian Hou Yaxian Xin Ming Yuan Guoxuan Zhang Zhiyuan Yang |
| author_sort | Hui Chai |
| collection | DOAJ |
| description | Some quadruped robots developed recently show better dynamic performance and environmental adaptability than ever, and have been preliminarily applied in the field of emergency disposal, military reconnaissance and infrastructure construction. The development route, mechanisms design, control methods and mobile manipulating approaches of the quadruped robots are surveyed in this article. Firstly, the development route of the quadruped robot is combed, as the references of the forecast of the future work on quadruped robots. Then the bionic structure and the motion control method of the quadruped robot is summarized, the advantages and disadvantages are analyzed in aspects of gait switching, terrain adaption and disturbance resistance. Subsequently, aiming at the mobile manipulation of the quadruped robot, the representative leg-arm collaborative robots and the multi-task-oriented Whole-body Control (WBC) methods are introduced. Finally, the summary and future work of the quadruped robots is given. |
| first_indexed | 2024-04-13T15:39:55Z |
| format | Article |
| id | doaj.art-9fadb07ed1ee4d3eab2df7b72182b3fe |
| institution | Directory Open Access Journal |
| issn | 2667-3797 |
| language | English |
| last_indexed | 2024-04-13T15:39:55Z |
| publishDate | 2022-03-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Biomimetic Intelligence and Robotics |
| spelling | doaj.art-9fadb07ed1ee4d3eab2df7b72182b3fe2022-12-22T02:41:10ZengElsevierBiomimetic Intelligence and Robotics2667-37972022-03-0121100029A survey of the development of quadruped robots: Joint configuration, dynamic locomotion control method and mobile manipulation approachHui Chai0Yibin Li1Rui Song2Guoteng Zhang3Qin Zhang4Song Liu5Jinmian Hou6Yaxian Xin7Ming Yuan8Guoxuan Zhang9Zhiyuan Yang10School of Control Science and Engineering, Shandong University, Jinan 250061, China; Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Shandong University, Jinan 250061, ChinaSchool of Control Science and Engineering, Shandong University, Jinan 250061, China; Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Shandong University, Jinan 250061, China; Corresponding author at: School of Control Science and Engineering, Shandong University, Jinan 250061, China.School of Control Science and Engineering, Shandong University, Jinan 250061, China; Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Shandong University, Jinan 250061, ChinaSchool of Control Science and Engineering, Shandong University, Jinan 250061, China; Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Shandong University, Jinan 250061, ChinaSchool of Control Science and Engineering, Shandong University, Jinan 250061, China; Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Shandong University, Jinan 250061, China; School of Electrical Engineering, University of Jinan, Jinan 250022, ChinaSchool of Control Science and Engineering, Shandong University, Jinan 250061, China; Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Shandong University, Jinan 250061, ChinaSchool of Control Science and Engineering, Shandong University, Jinan 250061, China; Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Shandong University, Jinan 250061, ChinaSchool of Control Science and Engineering, Shandong University, Jinan 250061, China; Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Shandong University, Jinan 250061, ChinaSchool of Control Science and Engineering, Shandong University, Jinan 250061, China; Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Shandong University, Jinan 250061, ChinaSchool of Control Science and Engineering, Shandong University, Jinan 250061, China; Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Shandong University, Jinan 250061, ChinaSchool of Control Science and Engineering, Shandong University, Jinan 250061, China; Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Shandong University, Jinan 250061, ChinaSome quadruped robots developed recently show better dynamic performance and environmental adaptability than ever, and have been preliminarily applied in the field of emergency disposal, military reconnaissance and infrastructure construction. The development route, mechanisms design, control methods and mobile manipulating approaches of the quadruped robots are surveyed in this article. Firstly, the development route of the quadruped robot is combed, as the references of the forecast of the future work on quadruped robots. Then the bionic structure and the motion control method of the quadruped robot is summarized, the advantages and disadvantages are analyzed in aspects of gait switching, terrain adaption and disturbance resistance. Subsequently, aiming at the mobile manipulation of the quadruped robot, the representative leg-arm collaborative robots and the multi-task-oriented Whole-body Control (WBC) methods are introduced. Finally, the summary and future work of the quadruped robots is given.http://www.sciencedirect.com/science/article/pii/S2667379721000292Quadruped robotJoint configurationDynamic locomotion controlMobile manipulationHyper-bio-inspired mechanism design |
| spellingShingle | Hui Chai Yibin Li Rui Song Guoteng Zhang Qin Zhang Song Liu Jinmian Hou Yaxian Xin Ming Yuan Guoxuan Zhang Zhiyuan Yang A survey of the development of quadruped robots: Joint configuration, dynamic locomotion control method and mobile manipulation approach Biomimetic Intelligence and Robotics Quadruped robot Joint configuration Dynamic locomotion control Mobile manipulation Hyper-bio-inspired mechanism design |
| title | A survey of the development of quadruped robots: Joint configuration, dynamic locomotion control method and mobile manipulation approach |
| title_full | A survey of the development of quadruped robots: Joint configuration, dynamic locomotion control method and mobile manipulation approach |
| title_fullStr | A survey of the development of quadruped robots: Joint configuration, dynamic locomotion control method and mobile manipulation approach |
| title_full_unstemmed | A survey of the development of quadruped robots: Joint configuration, dynamic locomotion control method and mobile manipulation approach |
| title_short | A survey of the development of quadruped robots: Joint configuration, dynamic locomotion control method and mobile manipulation approach |
| title_sort | survey of the development of quadruped robots joint configuration dynamic locomotion control method and mobile manipulation approach |
| topic | Quadruped robot Joint configuration Dynamic locomotion control Mobile manipulation Hyper-bio-inspired mechanism design |
| url | http://www.sciencedirect.com/science/article/pii/S2667379721000292 |
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