Gait Planning,and Motion Control Methods for Quadruped Robots:Achieving High Environmental Adaptability:A Review  

作　　者：Sheng Dong Feihu Fan Yinuo Chen Shangpeng Guo Jiayu Liu 

机构地区：[1]School of Electrical and Control Engineering,Shaanxi University of Science and Technology,Xi’an,710016,China

出　　处：《Computer Modeling in Engineering & Sciences》2025年第4期1-50,共50页工程与科学中的计算机建模(英文)

基　　金：funded by the Natural Science Basis Research Plan in Shaanxi Province of China(Program No.2023-JC-QN-0659);General Specialized Scientific Research Program of the Shaanxi Provincial Department of Education(Program 23JK0349).

摘　　要：Legged robots have always been a focal point of research for scholars domestically and internationally.Compared to other types of robots,quadruped robots exhibit superior balance and stability,enabling them to adapt effectively to diverse environments and traverse rugged terrains.This makes them well-suited for applications such as search and rescue,exploration,and transportation,with strong environmental adaptability,high flexibility,and broad application prospects.This paper discusses the current state of research on quadruped robots in terms of development status,gait trajectory planning methods,motion control strategies,reinforcement learning applications,and control algorithm integration.It highlights advancements in modeling,optimization,control,and data-driven approaches.The study identifies the adoption of efficient gait planning algorithms,the integration of reinforcement learning-based control technologies,and data-driven methods as key directions for the development of quadruped robots.The aim is to provide theoretical references for researchers in the field of quadruped robotics.

关 键 词：Quadruped robots model-based planning motion control autonomous learning algorithmintegration 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]