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With the ongoing technological advancements, mobile robots with biomimetic structures have garnered significant attention due to their dynamic performance and adaptability to complex environments. Among these, quadruped robots, characterized by their compact physique and legged morphology, exhibit remarkable agility and are capable of overcoming challenging terrains. This makes them promising candidates for performing complex tasks in unstructured real-world scenarios. Currently, quadruped robots have found preliminary applications in domains such as search and rescue, infrastructure inspection, defense, and space exploration. In this paper, we provide a comprehensive review of quadruped robots, beginning with their developmental progress from hardware and structural evolution to control strategies. We examine motion control approaches based on both optimization and learning, with a particular focus on legged locomotion and mobile manipulation, as well as sim-to-real transfer techniques. Moreover, we discuss the role of vision perception and environmental sensing in enabling robust interaction with complex terrains and objects. Finally, we summarize representative applications, identify key challenges, and highlight future opportunities for advancing quadruped robot research.
Qin et al. (Fri,) studied this question.