Technologies of the Quadruped Robots

In this paper، after reviewing a history of early literature and enumerating the benefits of quadruped robots، the latest world-wide research works on these robots are discussed. Then، various gate mechanisms، path movement methods، and static and dynamic stability margins of these robots are investigated. The modeling and kinematic and dynamic analyses of a typical quadruped robot with twelve degrees of freedom are also provided. Finally، a general path planning algorithms of such robots and the methods of deriving their stability conditions are explained.