The Research Status on Foot Design and Motion Control of the Legged Robot in Soft Terrain

More than 50% of the land on earth is not suitable for wheeled and tracked vehicle, and more than 15% of the world army's arrival areas urgently need a new walking device with higher passing ability. With the evolution of billions of years, animals can walk on many dangerous and complex terrains, therefore, the legged robot is designed to learn from the foot animals, and it is assumed to behave higher passing ability. However, it has not shown good passing ability in complex unstructured road. Aiming at the soft terrain which is common in the complex terrain, this paper studies the present research around three aspects of the bionic legged robot in soft terrain , including the application of terramechanics in robot, the foot design of legged robot, the dynamic modeling and motion control method. The theory and method introduced in this paper will support the technology development of the legged robot in soft terrain.