The Dynamics Research of Quadruped Robotics with Flexible Spine: A Review

Flexible spine motion of the quadruped has a decisive influence on the explosive power, energy utilization efficiency, stability, terrain-pass ability, and balance ability of the quadruped during running motion. The passive dynamics models and analysis methods of quadruped robotics with flexible spine are summarized to infer the kinetic mechanism. Furthermore, the current situation and future deve...