摘要：Recent developments in driving mode have heightened the need for quadruped robots. However, it is still a challenge to improve the dynamic characteristics. This paper makes a comprehensive review of the quadruped robot driving mode, from two aspects: hydraulic drive and motor drive. The application of hydraulic drives in quadruped robots is relatively mature. As motor performance is improving, interest in motor driving mode for quadruped robots is growing rapidly. Specific quadruped robots of milestone significance are presented in different driving modes. The performance in load capacity and motion characteristics, in different driving modes, are compared. Finally, the research difficulties in the field of quadruped robots are analyzed, while future development of the quadruped robot shows high prospects. The purpose of this paper is to summarize and analyze the previous research results and provide useful guidance for robot designers in developing more efficient driving modes for quadruped robots.
其他关键词：Quadruped robot ; driving mode ; comparative analysis ; direct motor drive ; motion performance
