TY - JOUR T1 - A Review of the Technical Developments on the Quadruped Robots TT - بررسی پیش رفت های فن آوری ربات های چهارپا JF - joc-isice JO - joc-isice VL - 8 IS - 3 UR - http://joc.kntu.ac.ir/article-1-212-en.html Y1 - 2014 SP - 51 EP - 68 KW - Quadruped robot KW - legged robot KW - path planning KW - dynamic stability KW - static stability. N2 - In this paper, after reviewing a history of early literature and enumerating the benefits of quadruped robots, the latest world-wide research works on these robots are discussed. Then, various gate mechanisms, path movement methods, and static and dynamic stability margins of these robots are investigated. The modeling and kinematic and dynamic analyses of a typical quadruped robot with twelve degrees of freedom are also provided. Finally, a general path planning algorithms of such robots and the methods of deriving their stability conditions are explained. M3 ER -