“…When encountering steep slopes, stairs, or other intricate terrains, the forward‐facing knee of the front‐knee–back‐elbow configuration often encounters interference with the terrain ahead, leading to a reduction in the space below the abdomen and compromising movement stability. [ 44 ] In contrast, the all‐elbow configuration addresses this issue, making it suitable for indoor or urban environments with low vertical obstacles or continuous stairs. As a result, it is widely used in most small and medium‐sized electric quadruped robots.…”
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.
“…When encountering steep slopes, stairs, or other intricate terrains, the forward‐facing knee of the front‐knee–back‐elbow configuration often encounters interference with the terrain ahead, leading to a reduction in the space below the abdomen and compromising movement stability. [ 44 ] In contrast, the all‐elbow configuration addresses this issue, making it suitable for indoor or urban environments with low vertical obstacles or continuous stairs. As a result, it is widely used in most small and medium‐sized electric quadruped robots.…”
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.
“…7(d)), which had real-time planning of gait through model predictive control based on force feedback. It had excellent real-time control capabilities and can react swiftly to ongoing impediments like stairs and walking patterns. Figure 7. Legged type UGV platform: (a) the quadrupedal robotic platform LLAMA [29]; (b) the quadrupedal robotic platform ANYmal [30]; (c) the bipedal humanoid robotic platform Atlas [31]; (d) the quadrupedal robotic platform Cheetah [32]. …”
Section: Research Status Of Ugv Platformmentioning
confidence: 99%
“…Legged type UGV platform: (a) the quadrupedal robotic platform LLAMA [29]; (b) the quadrupedal robotic platform ANYmal [30]; (c) the bipedal humanoid robotic platform Atlas [31]; (d) the quadrupedal robotic platform Cheetah [32]. …”
Section: Research Status Of Ugv Platformmentioning
confidence: 99%
“…To study the development of intelligent autonomous legged mobility in challenging and unstructured terrain, the LLAMA [29] (shown in Fig. 7(a)) quadrupedal robotic platform was developed.…”
Section: Legged Type Ugv Platformmentioning
confidence: 99%
“…Institution/Co Country Year Locomotion SMSS [5] Lockheed Martin USA 2005 Wheeled Guardium [6] G-UNIUS Israeli 2005 Wheeled Laska 2.0 URP [7] Infocom Ukraine 2018 Wheeled Mission Maste [8] Rheinmetall AG Germany 2018 Wheeled TALON [19] Foster-Miller USA 2000 Tracted Titan [20] QinetiQ England 2016 Tracted Uranus-9 [21] Kalashnikov Russia 2016 Tracted Packbot [22] iRobot USA 2003 Tracted LLAMA [29] ARL JPL USA 2019 Legged ANYmal [30] ETH Zurich Switzerland 2016 Legged Atlas [31] Boston Dynamics USA 2016 Legged Cheetah [32] MIT USA 2017 Legged Shrimp [49] EPFL Switzerland 2002 complex Ollie [50] Tencent China 2021 complex Swiss-Mile [51] ETH Zurich Switzerland 2021 complex TALBOT [52] HKU China 2022 complex Dragon Horse [53] CSU China 2020 complex Ascento [54] ETH Zurich Switzerland 2019 complex…”
This article presents a review of the platform configuration and dynamic of obstacle-surmounting unmanned ground vehicles (UGVs). For now, unmanned systems have emerged as a result of the rapid advancement of artificial intelligence and modern manufacturing techniques both domestically and internationally. The research on unmanned systems has been improved a lot. The UGV platform can execute transportation, recurring, and military tasks independently. For the high-level self-control, adaption, and maneuverability abilities, the UGV platform has been applied in the military, industry, and other special fields widely. The UGV platform usually performs tasks in an unstructured environment, so the all-terrain performance becomes a key factor restricting their operating efficiency and reliability. A brief literature review of the UGV platform is carried out in this article.
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