Journal of Jilin University(Engineering and Technology Edition) ›› 2025, Vol. 55 ›› Issue (5): 1483-1496.doi: 10.13229/j.cnki.jdxbgxb.20240722

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An overview of key technologies for quadruped robot motion and stability control

Xu WANG()   

  1. School of Innovation and Entrepreneurship，University of Science and Technology Beijing，Beijing 100083，China
  • Received:2024-06-29 Online:2025-05-01 Published:2025-07-18

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Abstract:

This paper analyses the main research on quadruped robots，based on the motion and stability control requirements of quadrupedal robots， the key technologies of quadrupedal robots， such as mechanism design， kinematics and dynamics analysis， gait and foot trajectory planning， joint actuators， motion stability control， etc.， are sorted out and summarised， and the logical relationship between each technology module is constructed， so as to systematically illustrate the motion and stability control architecture of quadrupedal robots， which can be used as reference for the researchers of foot-type robots.

Key words: quadruped robot, dynamics modeling, optimal foot force optimization, model predictive control

CLC Number: 

  • TP242

Fig.1

Schematic of changes in oxygen consumption per unit distance for horses at different speeds"

Fig.2

Tandem leg topology for quadruped robots"

Fig.3

Relationship between robot statics， kinematics and dynamics parameters"

Table 1

Correspondence of gait-load factor， phase difference"

步态β相位差（?i ：相位）
左前腿左后腿右前腿右后腿
爬行β＞0.7503/41/21/4
步行β=0.7503/41/21/4
对角小跑β=0.501/21/20
溜步β=0.5001/21/2
跳跃β=0.501/201/2
疾驰β<0.50≈1/2≈0≈1/2

Fig.4

Schematic diagram of the trajectory of a trinomial curve"

Fig.5

Motion control framework for quadruped robots"

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