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

He, Jun; Gao, Feng

doi:10.1186/s10033-020-00485-9

Chinese Journal of Mechanical Engineering

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-}$}}{P}_{p} )S$

Back to article page

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	\(\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{y} (\underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{R}_{p} \underset{\raise0.3em\hbox{$\smash{\scriptscriptstyle-}$}}{P}_{p} )S\)