Ruiqi Shi

May 11, 2024 | mdpi.com | Hao Yin |Ruiqi Shi |Jiang Liu

1. IntroductionWith the advancement of technology, robotics plays an increasingly crucial role in various societal domains. As a significant branch, biomimetic legged robots, characterized by intermittent contact points with the ground and small contact areas, enable smooth robot movement. Their body, legs, and feet are arranged in parallel mechanisms, allowing them to adjust their posture to adapt to terrain requirements.