A Review of Quadruped Robots: Structure, Control, and Autonomous Motion

Abstract

With their unique point‐contact ability with the ground and exceptional adaptability to complex terrains, quadruped robots have become a focal point in the fields of automation and robotic engineering. Significant research progress has been made in aspects such as structural design, motion planning, and balance control of these robots. However, a primary challenge in current research lies in further enhancing the dynamic performance, environmental adaptability, and payload capacity. In this article, research achievements in key technical areas of quadruped robots, encompassing structural design, gait planning, traditional control strategies, intelligent control strategies, and autonomous movement, are comprehensively discussed. The focus of the article is on analyzing trends in intelligence and technological innovation within the aforementioned areas, aiming to provide robust theoretical support and forward‐looking technical guidance for quadruped robots research. Additionally, it offers valuable references for scholars engaged in this field.

Numerical Simulation of Motion Test of Bionic Amphibious Quadruped Robot

“…This first inquiry digs into the diverse world of numerical simulation, emphasizing its critical role in analyzing and developing the design, performance, and usefulness of these exceptional robotic systems [3] [6]. Researchers can accurately forecast the robot's behaviour, discover any design problems, and iteratively improve its locomotion techniques by modelling a wide range of mobility tests across different terrains and situations [7] [8]. As they embark on this voyage of research and innovation, numerical simulation of motion tests emerges as a critical tool for realizing the full potential of bionic amphibious quadruped robots and facilitating their smooth integration into the ever-changing technological landscape [9] [10].…”