Journal
SCIENCE CHINA-TECHNOLOGICAL SCIENCES
Volume 57, Issue 2, Pages 298-314Publisher
SCIENCE PRESS
DOI: 10.1007/s11431-013-5443-7
Keywords
heavy-duty legged robot; mechanical structure; force distribution; control method; power source
Funding
- National Basic Research Program of China (973 Program) [2013CB035502]
- International Science and Technology Cooperation Project with Russia [2010DFR70270]
- National Natural Science Foundation of China [51275106]
- 111 Project [B07018]
- Key Laboratory Opening Funding of Aerospace Mechanism and Control [HIT. KLOF. 2010057]
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Heavy-duty legged robots have been regarded as one of the important developments in the field of legged robots because of their high payload-total mass ratio, terrain adaptability, and multitasking. The problems associated with the development and use of heavy-duty legged robots have motivated researchers to conduct many important studies, covering topics related to the mechanical structure, force distribution, control strategy, energy efficiency, etc. Overall, heavy-duty legged robots have three main characteristics: greater body masses, larger body sizes, and higher payload-total mass ratios. Thus, various heavy-duty legged robots and their performances are reviewed here. This review presents the current developments with regard to heavy-duty legged robots. Also, the main characteristics of high-performance heavy-duty legged robots are determined and conclusions are drawn. Furthermore, the current research of key techniques of heavy-duty legged robots, including the mechanical structure, force distribution, control method, and power source, is described. To assess the transportation capacity of heavy-duty legged robots, performance evaluation parameters are proposed. Finally, problems that need further research are addressed.
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