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A historical perspective of legged robots. (English) Zbl 1234.70002
Summary: The objective of this paper is to present the evolution and the state-of-the-art in the field of legged locomotion systems. In a first phase, different possibilities for implementing mobile robots are discussed, namely the case of artificial legged locomotion systems, while emphasizing their advantages and limitations. In the second phase, a historical overview of the evolution of these systems is presented, bearing in mind several particular cases often considered as milestones of technological and scientific progress. After this historical outline, some of the present-day systems are examined and their performance is analyzed. In the third phase, major areas of research and development that are presently being followed in the construction of legged robots are pointed out. Finally, some still unsolved problems that remain defying robotics research, are also addressed.
MSC:
70E60 Robot dynamics and control of rigid bodies
70B15 Kinematics of mechanisms and robots
70-03 History of mechanics of particles and systems
01A60 History of mathematics in the 20th century
70-02 Research exposition (monographs, survey articles) pertaining to mechanics of particles and systems
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