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Journal of Vibration and Control
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A Historical Perspective of Legged Robots

Manuel F. Silva

Department of Electrical Engineering, Institute of Engineering of Porto, Rua Dr. António Bernardino de Almeida, 4200-072 Porto, Portugal (mss{at}isep.ipp.pt)

J.A. Tenreiro Machado

Department of Electrical Engineering, Institute of Engineering of Porto, Rua Dr. António Bernardino de Almeida, 4200-072 Porto, Portugal (mss{at}isep.ipp.pt)

The objective of this paper is to present the evolution and the state-of-the-art in the area of legged locomotion systems. In a first phase different possibilities for implementing mobile robots are discussed, namely the case of artificial legged locomotion systems, while emphasizing their advantages and limitations. In a second phase a historical overview of the evolution of these systems is presented, bearing in mind several particular cases often considered as milestones of technological and scientific progress. After this historical timeline, some of the present-day systems are examined and their performance is analyzed. In a third phase the major areas of research and development that are presently being followed in the construction of legged robots are pointed out. Finally, some still unsolved problems that remain defying robotics research, are also addressed.

Key Words: Locomotion • walking robots • biped robots • humanoid robots

Journal of Vibration and Control, Vol. 13, No. 9-10, 1447-1486 (2007)
DOI: 10.1177/1077546307078276
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