Quadruped Robots Mechanism, Structural Design, Energy, Gait, Stability, and Actuators: A Review Study

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ISSN: 2278-0149 (Online)
Abbreviated Title: Int. J. Mech. Eng. Robot. Res.
Frequency: Bimonthly
DOI: 10.18178/ijmerr
Managing Editor: Ms. Jennifer Zeng
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Prof Richard (Chunhui) Yang

Professor of School of Engineering, Design and Built Environment, Western Sydney University, Australia. His research interests cover Industry 4.0, Additive Manufacturing, Advanced Engineering Materials and Structures (Metals and Composites), Multi-scale Modelling of Materials and Structures, Metal Forming and Metal Surface Treatment.

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Home > Published Issues > 2023 > Volume 12, No. 6, November 2023 >

IJMERR 2023 Vol.12(6): 385-395
DOI: 10.18178/ijmerr.12.6.385-395

Alarazah Hussein Abdulwahab1, Ahmad Zhafran Ahmad Mazlan1*, Ahmad Faizul Hawary1, and Nabil Hassan Hadi3

1. School of Mechanical Engineering, Engineering Campus, Universiti Sains Malaysia, Pulau Pinang, Malaysia
2. School of Aerospace Engineering, Engineering Campus, Universiti Sains Malaysia, Pulau Pinang, Malaysia
3. Department of Aeronautics Engineering, University of Baghdad, Baghdad, Iraq
*Correspondence: zhafran@usm.my (A.Z.A.M.)

Manuscript received April 23, 2023; revised May 16, 2023; accepted June 25, 2023.

Abstract—Recently developed quadruped robots have more efficient dynamic performance and adaptation to environments than before. They have already been used in the building of infrastructure, Military tracking, and emergency disposal. To predict future work on quadruped robots, it is first necessary to examine the frequently used mechanism and structure of the quadruped robot. The optimization of energy usage is then covered as well. The stability and gait techniques of the quadruped robot are then reviewed, and the benefits and drawbacks in terms of gait movement, environment adaptation, and energy consumption are examined. This paper surveys the quadruped robots’ development path, mechanisms, structural design, energy, gait, stability, actuators. Eventually, a summary of the quadruped robots’ current and future work is presented.

Keywords—legged robot, mechanism, structural design, gaits, stability, actuator

Cite: Alarazah Hussein Abdulwahab, Ahmad Zhafran Ahmad Mazlan, Ahmad Faizul Hawary, and Nabil Hassan Hadi, "Quadruped Robots Mechanism, Structural Design, Energy, Gait, Stability, and Actuators: A Review Study," International Journal of Mechanical Engineering and Robotics Research, Vol. 12, No. 6, pp. 385-395, November 2023.

Copyright © 2023 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.