The Dynamics Research of Quadruped Robotics with Flexible Spine: A Review

摘要

Flexible spine motion of the quadruped has a decisive influence on the explosive power, energy utilization efficiency, stability, terrain-pass ability, and balance ability of the quadruped during running motion. The passive dynamics models and analysis methods of quadruped robotics with flexible spine are summarized to infer the kinetic mechanism. Furthermore, the current situation and future development of the quadruped robotic prototype with flexible spine are analyzed. Finally, the improvement of dynamic performance brought by the flexible spine motion to the movement of the quadruped robotics is concluded. These provide a theoretical basis and technical guidance for the design and control algorithm of the quadruped robotics.