An Elucidative Analysis of Quadruped Robot’s Locomotion and Design

Research in the field of quadruped robots has been fairly active since the past few years. Recently, the research in the quadruped robots is primarily focused on the development of efficient gait planning and control methods. But before conceiving a gait controller, the intricacies in the quadruped robot design that highly affect its gait must be understood. The goal of this paper is to provide a brief analytical overview of the various factors of a quadruped robot design that needs to be taken into account for an effective gait planning and control. In this research, we review and investigate the mechanical aspects of quadruped robots and how they affect robot gait. Finally, we provide a small discussion about a gait control implementation. The goal of this review is to provide beneficial recommendations for future robotic designers to create more effective quadruped robot gait by summarizing and analyzing prior research efforts.