Systematic Study of Quadruped Bionic Robot Control

DOI

10.2991/978-94-6463-821-9_36How to use a DOI?

Keywords

Quadruped Bionic Robot; Balance Regulation Mechanism; Gait Planning; Robustness; Intelligent Control

Abstract

In this study, the latest research progress in the field of motion control of quadruped bionic robots is systematically reviewed, with emphasis on the key technologies such as dynamic modeling, multi-modal motion control algorithm, gait planning and stability optimization and so on. It is found that the current research has achieved remarkable results in the construction of high-performance hardware platforms, simplified dynamics modeling based on the Newton-Euler equation, diagonal gait impedance control algorithm and hierarchical control system design. However, troubles like the lack of environmental perception accuracy, limited generalization ability of intelligent decision algorithms, and insufficient robustness of balance control in complex terrain have not been fundamentally solved, which restricts the application of quadruped robots in practical scenarios. Given the future development direction, this paper proposes to further explore the multi-layer distributed control architecture, the design of miniaturized low-power controller, and the deep integration of the variable stiffness characteristics of bionic flexible joints with intelligent adaptive algorithms. By integrating biological motion mechanisms and advanced control theory, quadruped robots are expected to achieve more efficient and intelligent adaptability to complex terrain in the fields of military reconnaissance, disaster relief and industrial inspection.

Copyright

© 2025 The Author(s)

Open Access

Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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TY  - CONF
AU  - Ye Tang
PY  - 2025
DA  - 2025/08/31
TI  - Systematic Study of Quadruped Bionic Robot Control
BT  - Proceedings of the 2025 2nd International Conference on Mechanics, Electronics Engineering and Automation (ICMEEA 2025)
PB  - Atlantis Press
SP  - 334
EP  - 346
SN  - 2352-5401
UR  - https://doi.org/10.2991/978-94-6463-821-9_36
DO  - 10.2991/978-94-6463-821-9_36
ID  - Tang2025
ER  -