Design and driving model for the quadruped robot: An elucidating draft

Recent developments in driving mode have heightened the need for quadruped robots. However, it is still a challenge to improve the dynamic characteristics. This paper makes a comprehensive review of the quadruped robot driving mode, from two aspects: hydraulic drive and motor drive. The application...

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Bibliographic Details
Published inAdvances in mechanical engineering Vol. 13; no. 4; p. 168781402110090
Main Authors Yao, Ligang, Yu, Hao, Lu, Zongxing
Format Journal Article
LanguageEnglish
Published London, England SAGE Publications 01.04.2021
Sage Publications Ltd
SAGE Publishing
Subjects
Dynamic characteristics
Hydraulic drives
Robots
comparative analysis
direct motor drive
driving mode
motion performance
Quadruped robot
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Summary:Recent developments in driving mode have heightened the need for quadruped robots. However, it is still a challenge to improve the dynamic characteristics. This paper makes a comprehensive review of the quadruped robot driving mode, from two aspects: hydraulic drive and motor drive. The application of hydraulic drives in quadruped robots is relatively mature. As motor performance is improving, interest in motor driving mode for quadruped robots is growing rapidly. Specific quadruped robots of milestone significance are presented in different driving modes. The performance in load capacity and motion characteristics, in different driving modes, are compared. Finally, the research difficulties in the field of quadruped robots are analyzed, while future development of the quadruped robot shows high prospects. The purpose of this paper is to summarize and analyze the previous research results and provide useful guidance for robot designers in developing more efficient driving modes for quadruped robots.
ISSN:1687-8132
1687-8140
1687-8140
DOI:10.1177/16878140211009035