Furthermore, this paper pays special attention to the review of control approaches since control is a great challenge for highly dynamic multilegged robots. After that, the sensors and modeling methods used for perception are surveyed. Then, the development trends of three typical actuators, namely hydraulic, quasi-direct drive, and serial elastic actuators, are discussed. The latest leg mechanisms with serial-parallel hybrid topologies and rigid–flexible coupling configurations are analyzed. Second, current developments regarding key technologies of highly dynamic multilegged robots are reviewed in detail. ![]() First, 21 typical multilegged robots from the last five years are surveyed, and the most impressive performances of these robots are presented. ![]() This paper addresses key points that might yield breakthroughs for highly dynamic multilegged robots with the abilities of running (or jumping and hopping) and self-balancing. ![]() However, they are still far from being sufficiently versatile and robust for many applications. Multilegged robots have the potential to serve as assistants for humans, replacing them in performing dangerous, dull, or unclean tasks.
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