Posture Control and Leg Mechanisms for Legged Mobile Robots

Abstract

With the development of robotics and intelligent manufacturing, the demands for operations in complex environments are constantly increasing. Legged mobile robots have become a research hotspot due to their superior obstacle-crossing ability and environmental adaptability. This paper systematically reviews the research progress of legged robots with different configurations, analyzes the differences in motion stability, load capacity, obstacle-crossing performance, and efficiency, and compares the performance of mainstream mechanism configurations. For posture control, model-based control methods and learning-based intelligent control methods are summarized, and the adaptability and robustness of hybrid control frameworks in complex terrain are discussed. Combining the coupling mechanism of mechanism design and control algorithms, the roles of concurrent collaborative optimization and co-evolution in improving motion performance, energy efficiency, and endurance are analyzed. Finally, the core challenges of current legged robots in rigid-flexible coupling, Sim-to-Real transfer, endurance, and energy efficiency are summarized, and future development directions are proposed, providing theoretical guidance for the application of legged robots in complex environments.