Intelligent control of multilegged robot smooth motion: a review

Y Zhao, J Wang, G Cao, Y Yuan, X Yao, L Qi - IEEE Access, 2023 - ieeexplore.ieee.org
Motion control is crucial for multilegged robot locomotion and task completion. This study
aims to address the fundamental challenges of inadequate foot tracking and weak leg …

A study on quadruped mobile robots

H Taheri, N Mozayani - Mechanism and Machine Theory, 2023 - Elsevier
In recent years, quadruped mobile robots' development had experienced rapid progress,
which has subsequently increased their usage in many human-assisted applications …

[HTML][HTML] A survey of the development of quadruped robots: Joint configuration, dynamic locomotion control method and mobile manipulation approach

H Chai, Y Li, R Song, G Zhang, Q Zhang, S Liu… - Biomimetic Intelligence …, 2022 - Elsevier
Some quadruped robots developed recently show better dynamic performance and
environmental adaptability than ever, and have been preliminarily applied in the field of …

A trot and flying trot control method for quadruped robot based on optimal foot force distribution

T Chen, X Sun, Z Xu, Y Li, X Rong, L Zhou - Journal of Bionic Engineering, 2019 - Springer
In order to enhance the dynamic motion capability of the bionic quadruped robot, a flying trot
gait control method based on full-scale virtual model and optimal plantar force distribution is …

Aquro: A cat-like adaptive quadruped robot with novel bio-inspired capabilities

AA Saputra, N Takesue, K Wada, AJ Ijspeert… - Frontiers in Robotics …, 2021 - frontiersin.org
There are currently many quadruped robots suited to a wide range of applications, but
traversing some terrains, such as vertical ladders, remains an open challenge. There is still …

High dynamic position control for a typical hydraulic quadruped robot leg based on virtual decomposition control

K Zhang, J Zhang, H Zong, L Fang… - IEEE/ASME …, 2024 - ieeexplore.ieee.org
The dynamics of hydraulic robots are complicated due to the closed-chain joints formed by
cylinder articulation. This article is focused on presenting a model-based control framework …

[HTML][HTML] Structural design, simulation and experiment of quadruped robot

Y Shi, S Li, M Guo, Y Yang, D Xia, X Luo - Applied Sciences, 2021 - mdpi.com
This paper carried out a series of designs, simulations and implementations by using the
physical-like mechanism of a bionic quadruped robot dog as a vehicle. Through an …

Staircase-climbing capability-based dimension design of a hexapod robot

H Li, C Qi, L Mao, Y Zhao, X Chen, F Gao - Mechanism and Machine …, 2021 - Elsevier
Robot dimension design based on staircase-climbing is essential but seldom studied for
legged robots. Incorporating the staircase-climbing in design is novel and relevant. The …

A compliant control method for robust trot motion of hydraulic actuated quadruped robot

T Chen, X Rong, Y Li, C Ding… - International Journal of …, 2018 - journals.sagepub.com
A motion control approach is proposed for hydraulic actuated quadruped robots, aiming to
achieve active compliance and robust motion control. The approach is designed with a …

Modeling and analysis on energy consumption of hydraulic quadruped robot for optimal trot motion control

K Yang, X Rong, L Zhou, Y Li - Applied Sciences, 2019 - mdpi.com
Energy consumption is an important performance index of quadruped robots. In this paper,
the energy consumptions of the quadruped robot SCalf with a trot gait under different gait …