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Table 5 Leg configurations of selected legged robots

From: Mechanism, Actuation, Perception, and Control of Highly Dynamic Multilegged Robots: A Review

Name No. of legs DOFs of leg Leg configuration
HyQ2Max [15,16,17,18,19] 4 3 \(\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{r} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p} (R_{p} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{P} R_{p} \tilde{R}_{p} )\)
HyQReal 4 3 \(\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{r} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p} (R_{p} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{P} R_{p} \tilde{R}_{p} )\)
StarlETH [20] 4 3 \(\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{r} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p} (\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p} R_{p} R_{p} \tilde{R}_{p} )\)
ANYmal [10] 4 3 \(\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{r} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p}\)
Cheetah 1 [21] 4 2 \(\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p} (\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p} R_{p} R_{p} \tilde{R}_{p} )R_{p}\)
Cheetah 2 [22, 24] 4 2 \(\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p} (\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p} R_{p} R_{p} \tilde{R}_{p} )R_{p}\)
Cheetah 3 [23, 24] 4 3 \(\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{r} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p}\)
Scalf-II [26] 4 4 \(\begin{aligned} (R_{r} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{P} R_{r} \tilde{R}_{r} )(R_{p} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{P} R_{p} \tilde{R}_{p} ){ - } \hfill \\ (R_{p} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{P} R_{p} \tilde{R}_{p} )P \hfill \\ \end{aligned}\)
HIT quadruped robot [27] 4 4 \(\begin{aligned} (R_{r} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{P} R_{r} \tilde{R}_{r} )(R_{p} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{P} R_{p} \tilde{R}_{p} ){ - } \hfill \\ (R_{p} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{P} R_{p} \tilde{R}_{p} )P \hfill \\ \end{aligned}\)
Baby elephant [28] 4 6 \(\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{r} (\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{P} )S\)
CNVI robot 4 3 \(\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{r} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p}\)
SpotMini 4 3 \(\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{r} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p} (\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p} R_{p} R_{p} \tilde{R}_{p} )\)
Laikago 4 3 \(\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{r} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p} (\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p} R_{p} R_{p} \tilde{R}_{p} )\)
JueYing 4 3 \(\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{r} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p} (\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p} R_{p} R_{p} \tilde{R}_{p} )\)
XDog [29] 4 3 \(\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{r} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p}\)
BIT-NAZA 4 6 \(6{\text{ - UPS}}\)
Lauron-IV [30, 31] 6 4 \(\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{y} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{r} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{r} P\)
Crabster [32, 33] 6 4 \(\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{y} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{r} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{r}\)
Octopus [34] 6 6 \((U\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{P} \& 2U\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{P} S)S\)
Hexbot-IV [6] 6 3 \((\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R} U\& 2\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R} US)\)
HIT hexapod
robot [35]
6 6 \(\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{y} (\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{P}_{p} )S\)