Dynamic Stability Analysis of a Trotting Quadruped Robot Based on Switching Control

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.

Section: Model-based Control Methodsmentioning

confidence: 99%

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

Fan,

Pei,

Wang

et al. 2024

“…Therefore, several approaches to ensure robot's grasp and motion on inclined surfaces have been proposed. These can be divided into two categories: passive, which makes use of synthetic gecko-like feet [14] and adhesive tapes; [15] and active, based on electroadhesion, [16,17] suction cups, [18] hydrogel, [19] and electromagnets. [20] These examples show that moving across large and nonuniform obstacle/terrain is still a challenging and time-consuming task.…”

Section: Introductionmentioning

confidence: 99%

Tasering Twin Soft Robot: A Multimodal Soft Robot Capable of Passive Flight and Wall Climbing

Sriratanasak

Axinte

Dong

et al. 2022

The application of Soft Crawling Robots (SCRs) to real‐world scenarios remains a grand challenge due to their limited deployment time to reach the target and accessibility to difficult‐to‐reach environments by any obstacles. To overcome these limitations, a novel multimodal Tasering Twin Soft Robot (TTSR), carrying two SCRs, capable of 1) passive flight and 2) wall climbing to a desired location by deploying SCRs once reached the target is proposed. For satisfying both tasks, reconfigurable design of SCRs using a novel bistable mechanism and detaching mechanism based on a shape‐memory alloy for deploying SCRs is proposed. Each SCR is driven by two dielectric elastomer actuators (DEA) and three electroadhesive (EA) feet. To demonstrate multimodality, the TTSR with two SCRs is launched by pneumatic pressure and flown over an obstacle. While flying, the SCRs are folded compactly to reduce the air drag and perch on a wall 3 m away (50 times of body length) within 0.64 s. After perching, the SCRs reconfigure themselves for crawling and separated from each other. After that, the SCRs crawl, performing planar motion, and reach predefined locations on the wall. Moreover, the SCR can move across 15°‐slope dihedral surfaces and inverted surface.

“…It has long been utilized for actuation in micro‐ and nanoelectromechanical systems (MEMS/NEMS) . An electrostatic force‐controlled microrobot was made by Donald et al Other engineers have incorporated electrostatic force for centimeter‐scale robots and decimeter‐scale wall climbers, and electrostatic forces have been used to actuate soft robotics such as the muscle‐like electrostatic actuator for gripping objects and untethered inchworm‐like robots…”

Section: Introductionmentioning

confidence: 99%

Tunable, Flexible, and Resilient Robots Driven by an Electrostatic Actuator

Jin

Zhang

Xü

et al. 2020

Robustness, deformability, maneuverability, and ease of fabrication are among the most desirable features of soft robots that can adapt to various working environments and complex terrains. Herein, polymeric thin‐film‐based flexible robots are designed, prototyped, and examined that use mechanical instability and electrostatic force actuation for locomotion. An electrostatic actuator is first developed using a buckled beam that can deform by up to 68% of its height under an applied voltage. A centimeter‐scale robotic bug is then designed that shows superb flexibility, adaptability, and maneuverability by incorporating origami structural elements. For instance, the robotic bug can be completely smashed and still recover its mobility, walk on various terrains, slopes (up to 30°) and narrow spaces, overcome hurdles, make turns, and even move backward with a crawling (linear) and turning (rotation) speed up to 40 mm s−1 and ≈45° s−1, respectively. Such remarkable characteristics are controlled by a set of parameters such as the amplitude and frequency of the input voltage and/or the origami geometries. The facile and tunable design and the actuation principle can potentially enable ample opportunities for the development of the next‐generation soft robotics.