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Table 6 Dynamic gaits and control methods of selected legged robots

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

Categories Robots Mass (kg) vmax (m/s) Fr Gaits Control methods
Dynamics-based control Quadruped [85] 38 2.2 0.88 Trot SLIP
2.9 1.53 Bound SLIP
Minitaur [56, 96] 5 0.8 0.374 Pronk SLIP
1.45 1.23 Bound SLIP
SCOUT II [97] 20.865 1.3 0.53 Bound SLIP
BigDog [47] 109 3.1 0.98 Bound
2 0.41 Trot
KOLT [43] 80 1.1 0.18 Trot SLIP + Fuzzy Control
Hexbot-IV [6] 268 0.55 0.04 Trot SLIP for hexapod tripod gait
HyQ [99] 70 1 0.15 Trot VMC
HyQ [48, 162] 70 2 0.6 Trot Active impedance control
Cheetah 1 [112,113,114] 39.406 6 7.34 Gallop Proprioceptive impedance control
Cheetah 2 [2, 22, 54] 34.4* 6.4 7.1 Bound Direct control of ground reaction force
Cheetah 2 [1] 34.4* 2.4 1 Jump over obstacles MPC
Cheetah 3 [24, 100, 101] 45 1.2 0.216 Trot MPC
1.7 0.434 Flying-trot MPC
3 1.35 Gallop MPC
StarlETH [20, 102,103,104] 25 0.7 0.15 Trot WBC
ANYmal [10, 87] 30 1 0.204 Trot WBC
Model-free control Cheetah-cub [40] 1.1 1.42 1.3 Trot CPG
Tekken 1[40, 105, 106] 3.1 1 0.49 Trot CPG
1.1 0.59 Bound CPG
Tekken 2 [40, 107] 4.3 0.95 0.37 Trot CPG
HyQ [17] 70 0.35 0.104 Trot (On unexpected terrains) CPG-Task space trajectory generation
Baby elephant [108] 130 0.5 0.035 Trot CPG
Minitaur [110] 5 0.6 0.21 Trot Sim-to-real RL
1.18 0.815 Gallop Sim-to-real RL
ANYmal [3] 30 1.5 0.459 Flying-trot Sim-to-real RL
  1. * The mass is estimated from the data in Refs. [1] and [22]