Abstract—Recently developed quadruped robots have more efficient dynamic performance and adaptation to environments than before. They have already been used in the building of infrastructure, Military tracking, and emergency disposal. To predict future work on quadruped robots, it is first necessary to examine the frequently used mechanism and structure of the quadruped robot. The optimization of energy usage is then covered as well. The stability and gait techniques of the quadruped robot are then reviewed, and the benefits and drawbacks in terms of gait movement, environment adaptation, and energy consumption are examined. This paper surveys the quadruped robots’ development path, mechanisms, structural design, energy, gait, stability, actuators. Eventually, a summary of the quadruped robots’ current and future work is presented.

Keywords—legged robot, mechanism, structural design, gaits, stability, actuator 

Cite: Alarazah Hussein Abdulwahab, Ahmad Zhafran Ahmad Mazlan, Ahmad Faizul Hawary, and Nabil Hassan Hadi, "Quadruped Robots Mechanism, Structural Design, Energy, Gait, Stability, and Actuators: A Review Study," International Journal of Mechanical Engineering and Robotics Research, Vol. 12, No. 6, pp. 385-395, November 2023.

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