A Review of Motion Control Methods for Rigid Quadruped and Hexapod Robots
Land mobile robots have a wide range of application prospects in many fields such as industry,agriculture and life,among which rigid quadruped and hexapod robots have attracted much attention for their strong terrain adaptability and obstacle-crossing ability.Focusing on rigid-body quadruped and hexapod robots,the previous related researches were combed,the well-known robots at home and abroad were briefly analyzed,the mainstream motion control theories such as pivotal pattern generator,model predictive control and whole-body control which were applied to robots were analyzed in detail,and the challenges faced in the process of their development were discussed,and finally their development was summarized.It looks ahead to the direction and significance of the future development.
万方数据
维普
