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Heavy-duty legged robots have been regarded as one of the important developments in the field of legged robots because of their high payload-total mass ratio,terrain adaptability,and multitasking.The problems associated with the development and use of heavy-duty legged robots have motivated researchers to conduct many important studies,covering topics related to the mechanical structure,force distribution,control strategy,energy efficiency,etc.Overall,heavy-duty legged robots have three main characteristics:greater body masses,larger body sizes,and higher payload-total mass ratios.Thus,various heavy-duty legged robots and their performances are reviewed here.This review presents the current developments with regard to heavy-duty legged robots.Also,the main characteristics of high-performance heavy-duty legged robots are determined and conclusions are drawn.Furthermore,the current research of key techniques of heavy-duty legged robots,including the mechanical structure,force distribution,control method,and power source,is described.To assess the transportation capacity of heavy-duty legged robots,performance evaluation parameters are proposed.Finally,problems that need further research are addressed.
Heavy-duty legged robots have been considered as one of the important developments in the field of legged robots because of their high payload-total mass ratio, terrain adaptability, and multitasking.The problems associated with the development and use of heavy-duty legged robots have motivated researchers to conduct many important studies, covering topics related to the mechanical structure, force distribution, control strategy, energy efficiency, etc.Overall, heavy-duty legged robots have three main characteristics: greater body masses, larger body sizes, and higher payload-total mass ratios.Thus, various heavy-duty legged robots and their performances are reviewed here. This review presents the current developments with regard to heavy-duty legged robots.Also, the main characteristics of high-performance heavy-duty legged robots are determined and made are.Furthermore, the current research of key techniques of heavy-duty legged robots, including the mechanical structure, force distributio n, control method, and power source, is described. assess the transportation capacity of heavy-duty legged robots, performance evaluation parameters are proposed. Finaally, problems that need further research are addressed.