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REVIEW article
Front. Mech. Eng.
Sec. Digital Manufacturing
Volume 10 - 2024 |
doi: 10.3389/fmech.2024.1448681
Design, motions, capabilities and applications of quadruped robots: A comprehensive review
Provisionally accepted- 1 Nirma University, Ahmedabad, Gujarat, India
- 2 JECRC University, Jaipur, India
- 3 SGT University, Gurugram, India
- 4 Manipal Academy of Higher Education, Manipal, Karnataka, India
Robots are becoming integral to society and industries due to their enormous advantages. Among the various categories of mobile robots, including Wheeled Robot, Tracked Robot, and Legged Robots, the latter stands out as a better choice for most field applications due to its adaptability across various terrains. The purpose of the review here is to study the locomotion capabilities of quadruped robots and to judge their suitability for Climbing applications, as most unexplored applications of automation and robotics are required to climb. This review paper explores the locomotion capabilities of quadruped robots. It covers different aspects of quadruped robots like types of legs, leg design, gait patterns, and their mathematical formulations, and types of motions like omnidirectional motion and body sway motion. It also emphasizes fault-tolerant gait, its adaptability, and reliability. The paper also focuses on slope and stair climbing, outlining design requirements and applications. The study includes examination of applicability of various gaits in different conditions and the methods for increasing stability without compromising speed. Overall, the review serves as a valuable resource for future research in this field.
Keywords: quadruped robot, Climbing robot, legged robot, Fault-tolerant design, Gait planning, dynamic analysis
Received: 13 Jun 2024; Accepted: 16 Jul 2024.
Copyright: © 2024 Majithia, Shah, Dave, Kumar, Rathee, Dogra, H. M., Chiniwar and Hiremath. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
* Correspondence:
Ashish Majithia, Nirma University, Ahmedabad, 382 481, Gujarat, India
Jatin Dave, Nirma University, Ahmedabad, 382 481, Gujarat, India
Ajay Kumar, JECRC University, Jaipur, India
Sarita Rathee, JECRC University, Jaipur, India
Namrata Dogra, SGT University, Gurugram, India
VISHWANATHA H. M., Manipal Academy of Higher Education, Manipal, 576104, Karnataka, India
Dundesh S. Chiniwar, Manipal Academy of Higher Education, Manipal, 576104, Karnataka, India
Shivashankarayya Hiremath, Manipal Academy of Higher Education, Manipal, 576104, Karnataka, India
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