Advancements in Legged Walking Robots: Review

Matteb, Zaineb Wared; Bakhy, Sadeq Hussein; Hadi, Nabil Hassan

doi:10.33103/uot.ijccce.24.3.1

	Advancements in Legged Walking Robots: Review
IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING
Volume 24, Issue 3, September 2024, Pages 1-15 PDF (1.15 M)
Document Type: Review Paper
DOI: 10.33103/uot.ijccce.24.3.1
Authors
Zaineb Wared Matteb^* ¹; Sadeq Hussein Bakhy¹; Nabil Hassan Hadi²
¹Mechanical Engineering Department, University of Technology, Baghdad, Iraq
²College of Engineering Aeronautical Engineering, University of Baghdad, Baghdad, Iraq
Abstract
The purpose of this review paper is to contribute to the body of knowledge surrounding legged walking robots, specifically those utilizing four legs. It aims to inform researchers, engineers, and enthusiasts about the advancements, potential applications, and future prospects of these robots, ultimately driving further research and development in this exciting field. The review covered the most recent research articles in the field of designing and manufacturing robots, as well as how to choose the mechanism of actuator between hydraulic or electric systems and their impact on the weight increase and energy consumption, or potential noise generation during the operation like Bigdog robot. The payload was also assessed, with a comparison of the speed chart for each quadruped robot. It has been found that several critical technologies driving quadruped robots' advancement include new biomimetic structures, high power density actuators, techniques for controlling in real time and integrated environmental perception, depending on the application fields, such as industrial automation, healthcare, and exploration. Each of these elements is essential for achieving high-performance quadruped robots. Notably, the paper also delves understanding the fundamental methods used by mobile robots to perceive their surroundings, pay load (N), normalized speed (m/s), and engine mechanism. This work is valuable for all researchers in the field of a five-bar mechanism legged robot to keep up with the most recent advancements in this field. Furthermore, this review paper can be considered as a guideline for researchers who are intended to perform further research on mobile robot.
Keywords
Quadruped mobile robot; Payload; Mechanism; DOF; robotic leg

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