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Document Type

Review

Keywords

Control Engineering

Abstract

The purpose of this review is to contribute to the body ofknowledge surrounding legged walking robots, specifically those utilizingfour legs. It aims to inform researchers, engineers, and enthusiasts about theadvancements, potential applications, and future prospects of these robots,ultimately driving further research and development in this exciting field.The review covered the most recent research articles in the field of designingand manufacturing robots, as well as how to choose the mechanism ofactuator between hydraulic or electric systems and their impact on theweight increase and energy consumption, or potential noise generationduring the operation like Bigdog robot. The payload was also assessed, witha comparison of the speed chart for each quadruped robot. It has been foundthat several critical technologies driving quadruped robots' advancementinclude new biomimetic structures, high power density actuators, techniquesfor controlling in real time and integrated environmental perception,depending on the application fields, such as industrial automation,healthcare, and exploration. Each of these elements is essential for achievinghigh-performance quadruped robots. Notably, the paper also delvesunderstanding the fundamental methods used by mobile robots to perceivetheir surroundings, pay load (N), normalized speed (m/s), and enginemechanism. This work is valuable for all researchers in the field of a five-barmechanism legged robot to keep up with the most recent advancements inthis field. Furthermore, this review can be considered as a guidelinefor researchers who are intended to perform further research on mobilerobot.

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