Robotics have become an active research area in recent years. Bioinspired foot robots have become a topic of interest in the field of robot research, because of their unique motion form, control method, and adaptability in complex environments [1, 2]. The stability and load capacity of a quadruped robot are much better than those of the biped robot. The complexity of the mechanism and control strategy are simpler than those of hexapod and multilegged robots [3, 4]. Thus, quadruped robots have a wide range of applications in military transportation, forest detection, and emergency rescue scenarios [5].
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