四足机器人研究综述

An Overview of Quadruped Robots

凭借对恶劣地形的强适应性,四足机器人已经成为当今移动机器人研究的热点,其研究深具社会意义和实用价值。阐述了四足机器人的发展及研究现状,以具有代表性的四足机器人为据,从结构设计、控制方法和环境感知技术三个方面综合介绍了四足机器人系统,总结了四足机器人的关键技术及主要问题,最后给出了具有前瞻性的结论。

Owing to their enhanced adaptability to harsh terrain, quadruped robots has become a hotspot in mobile robotics research field, and its research has profound social significance and practical value. The developments and current research status of quadruped robots are reviewed. Based on the representative quadruped robots, the quadruped robots are comprehensively introduced from three aspects: structure design, control method and environment perception technology. The key technologies and main difficulties of quadruped robots are summarized, and finally forward-looking conclusions are given.