Recently, the practical implications of dexterous grasping technology have become a key point of research in robotics and artificial intelligence. At its core, this technology aims to empower robots to achieve human-level grasping capabilities. To help researchers quickly acquire the latest advancements, we have conducted a comprehensive review of the recent research developments, focusing on learning-based approaches, from two perspectives: Grasp Generation (GG) and Grasp Execution (GE). Specifically, GG refers to generating appropriate grasping poses for the target object. GE refers to executing grasp poses by motion planning and motion control. Afterwards, we introduce recent benchmark datasets and evaluation metrics. Based on these extensive benchmarks, we offer a comparative analysis of the state-of-the-art solutions. Lastly, we highlight several research directions that need to be further addressed, which will greatly facilitate the practical deployment of dexterous grasping technology in industrial manufacturing, household services, medical rehabilitation, etc. We believe it is a crucial area of research for future progress in robotic manipulation.

Walking stability is one of the key problems restricting the development of quadruped robots. Two new kinds of variable parameter quadruped robots with high stability were proposed. The two groups of variable parameter models were applied to quadruped robots with the full elbow joint or elbow joint for front legs and knee joint for back legs, respectively, and the stability of their linear motion under different variable parameters was deeply studied by Recurdyn. The quadruped robots with elbow joint for front legs and knee joint for back legs displayed good antijamming ability to lateral impact. According to the rigid-flexible simulation experiment, the largest force occurred in the knee joint during the movement of the quadruped robot. This provided a theoretical basis for the design of real quadruped robots.

This study introduces a wheeled robot platform with jumping ability. To realize jump movement, a twisted string lever mechanism is used, which is character