This study comprehensively discusses the current state of research in the fields of foot-ground contact mechanics models,experimental methods,and virtual simulations.Firstly,it summarizes and generalizes various foot-ground contact mechanics models established under hard and soft ground environments.Secondly,it categorizes experimental methods for foot-end motion,leg motion status,and different foot-end shapes.Thirdly,it summarizes virtual simulations of legged robot foot-ground mechanics using finite element and discrete element simulation methods.Finally,it proposes prospects for future research in the mechanics of foot-ground contact in legged robots in terms of dynamic interaction models,ground adaptability,and innovative foot ends.It is important to study the foot-ground contact mechanics of legged robots to improve their motion performance in varied terrain,and to develop more efficient and stable robot systems.
维普
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