BigDog, the Rough-Terrain Quadruped Robot

TL;DR: Based on the transfer strategies provided in the paper, the rough terrain walking problem could be simplified as common slope walking condition, and motion planning could be achieved via some basic criteria.

TL;DR: In this paper, the legs of a walking parallel kinematic machine tool (WalkingHex) are actuated such that the upper spherical joint can be actively driven while walking and remain a free, passive joint while performing machining operations.

TL;DR: This work presents foundational, general-purpose pipelines to simulate and fabricate cable-driven soft-rigid robots with embedded skeletons and shows that robots built using these methods can fluidly mimic biological systems while achieving greater force output and external load resistance than purely soft robots.

TL;DR: It is found that each of the gaits that use the legs in pairs can be transformed into a common underlying gait, a virtual biped gait: a single set of control algorithms produce all three gaits, with modest parameter variations between them.

TL;DR: Measurements of running in the cat and human show that the feet and body sometimes move as predicted by the even and odd symmetry functions.

TL;DR: Different vehicle configurations as well as leg mechanisms which are already explored by researchers are reviewed and the author hopes that this will serve as a brief account of previous research efforts and help future walking robot designers to develop more sophisticated machines.