A Literature Review on Walking Strategies of Legged Robots

Bakircioglu V., Kalyoncu M.

JOURNAL OF POLYTECHNIC-POLITEKNIK DERGISI, vol.23, no.4, pp.961-986, 2020 (ESCI) identifier

  • Publication Type: Article / Review
  • Volume: 23 Issue: 4
  • Publication Date: 2020
  • Journal Indexes: Emerging Sources Citation Index (ESCI), TR DİZİN (ULAKBİM)
  • Page Numbers: pp.961-986
  • Keywords: Legged robots, quadrupedal locomotion, static walking robots, dynamic walking robots, ADAPTIVE DYNAMIC WALKING, QUADRUPED ROBOT, INVERTED PENDULUM, LOCOMOTION, DESIGN, STABILITY, OPTIMIZATION, BALANCE, SURFACE, SYSTEM
  • Middle East Technical University Affiliated: No


In this study, previous studies on legged motion; in particular, important milestones of the legged robots' literature were referred. From the past period research, primarily, studies on the walking of the living beings and the machines that can mimic it were mentioned. Subsequently, the history of legged robots that is the subject of the study was addressed. In the studies on the legged robots, two basic approaches as the walking strategy were concerned; static gait and dynamic gait. Due to this reason, the history of the legged robots was reported in chronological order under two main topics as Static Walking Legged Robots and Dynamic Walking Legged Robots. In the Static Walking Legged Robots topic, researches on the development of techniques for controlling of the multi-legged systems to cope with more complex problems of the land adaptation such as locomotion on rough surfaces and overcoming obstacles; as for in the Dynamic Walking Legged Robots topic, researches on the improvement of dynamic control concepts and techniques to develop legged systems with highly sophisticated mobility capabilities such as running and jumping are presented.