In this work the authors present a novel algorithm for estimating the odometry of “C” legged robots with compliant legs and an analysis to estimate the pose of the robot. Robots with “C” legs are an alternative to wheeled and...
Legged soccer robots present a significant challenge in robotics owing to the need for seamless integration of perception, manipulation, and dynamic movement. While existing models often depend on external perception or static techniques, our study a...
In this study, a novel flying legged robot configuration with enhanced obstacle-crossing capability is introduced. Legged robots, especially RHex robots, already possess high obstacle-crossing capability; however, the obstacle size that can be overco...
Robotic control is a fundamental part of autonomous robots. Modular legged and climbing robots are complex machines made up of a variety of subsystems, ranging from a single robot with simple legs to a complex system composed of multiple legs (or mod...
Compared with wheeled and tracked robots, legged robots have better movement ability and are more suitable for the exploration of unknown environments. In order to further improve the adaptability of legged robots to complex terrains such as slopes,...
The development of functional legged robots has encountered its limits in human-made actuation technology. This paper describes research on the biomimetic design of legs for agile quadrupeds. A biomimetic leg concept that extracts key principles from...
Bipedal robots have long been a focal point of robotics research with an unwavering emphasis on platform stability. Achieving stability necessitates meticulous design considerations at every stage, encompassing resilience against environmental distur...
In this paper, we present a fully original control architecture for legged-and-climber robots that is level-based, hierarchical, and centralized. The architecture gives the robots the ability to perform self-reconfiguration after unforeseen leg failu...
Traditional mobile robots are mainly divided into wheeled robots and legged robots. They have good performance at fast-moving speeds and crossing obstacles, and weak terrain adaptability and moving speeds, respectively. Combining the advantages of th...
Legged robots imitating animals have become versatile and applicable in more application scenarios recent years. Most of their functions rely on powerful athletic abilities, which require the robots to have remarkable actuator capacities and controll...
In this research, the dynamic walking of a legged robot in underwater environments is proposed. For this goal, the underwater zero moment point (Uzmp) is proposed in order to generate the trajectory of the centre of the mass of the robot. Also, the u...
Bionic-legged robots draw inspiration from animal locomotion methods and structures, demonstrating the potential to traverse irregular and unstructured environments. The ability of Portunus trituberculatus (Portunus) to run flexibly and quickly in am...
Locomotion over different terrain types, whether flat or uneven, is very important for a wide range of service operations in robotics. Potential applications range from surveillance, rescue, or hospital assistance. Wheeled-legged hexapod robots have...
MoCLORA (Modular Climbing-and-Legged Robotic Organism Architecture) is a software framework for climbing bio-inspired robotic organisms composed of modular robots (legs). It is presented as a modular low-level architecture that coordinates the module...
In our previous study, we introduced a rope-driven wheel-legged robot (RDWR) designed for climbing 3D facades. The RDWR utilizes a two-rope ascender and a wheel-legged mechanism to navigate complex surface geometries. Similar to other legged robots,...
In this paper, a wheel-legged mobile robot is proposed. The parameter design of the wheel-leg structure is completed using geometric analysis and statics modeling. The curling mechanism is chosen as the main part of the robot, expanding the robot&rsq...
Aiming at highly dynamic locomotion and impact mitigation, this paper proposes the design and implementation of a symmetric legged robot. Based on the analysis of the three-leg topology in terms of force sensitivity, force production, and impact miti...
Aiming at the crossing problem of complex terrain, to further improve the ability of obstacles crossing, this paper designs and develops an all-terrain wheel-legged hybrid robot (WLHR) with strong adaptability to the environment. According to the ope...
Heavy-duty legged robots have played an important role in material transportation, planet exploration, and other fields due to their unique advantages in complex and harsh terrain environments. The instability phenomenon of the heavy-duty legged robo...
With the advancements in information, communication, and sensing technologies, structural health monitoring (SHM) has matured into a substantial pillar of infrastructure maintenance. In particular, wireless sensor networks have gradually been incorpo...
Legged robots are widely used for walking, running, jumping, and landing on the ground. As mission terrains become increasingly complex, legged robots with greater adaptability are required. However, limited research attention has been paid to enhanc...
C-legged hexapod robots offer a balanced trade-off between the robust stability of wheeled robots and the increased-motion capabilities of legged robots, and therefore, are currently of great interest. This article investigates the impact of mass, le...
The leg structure with high dynamic stability can make the bionic biped robot have the inherent conditions to perform elastic and highly dynamic motion. Compared with the quadruped robot, the leg structure of the biped robot is more complex and has m...
In this study, the authors focus on the structural design of and recovery methods for a damaged quadruped robot with a limited number of functional legs. Because the pre-designed controller cannot be executed when the robot is damaged, a control stra...
Legged robots are meant to autonomously navigate unstructured environments for applications like search and rescue, inspection, or maintenance. In autonomous navigation, a close relationship between locomotion and perception is crucial; the robot has...
Robotic legs, such as for lower-limb exoskeletons and prostheses, have bimodal operation: (1) within a task, like for walking (high speed and low force for the swing phase and low speed and higher force when the leg bears the weight of the system); (...
Hydraulic legged robots, with advantages such as high load capacity and power density, have become a strategic driving force in advancing intelligent mobile platform technologies. However, their high energy consumption significantly limits long-durat...
To face the challenge of adapting to complex terrains and environments, we develop a novel wheel-legged robot that can switch motion modes to adapt to different environments. The robot can perform efficient and stable upright balanced locomotion on f...
In this work, the concept and mechanical design of a novel compact, lightweight, omnidirectional three-legged robot, featuring a hybrid serial–parallel topology including leg compliance is proposed. The proposal focusses deeply on the design as...
Bionic multi-legged robots with flexible bodies embody human ingenuity in imitating, learning, and exploring the natural world. In contrast to rigid-body robots, these robots with flexible bodies exhibit superior locomotive capabilities. The flexible...
This paper proposes a novel wheel−leg hybrid robot that can be applied on both flat and rugged terrains, it utilizes two passive transformable symmetrical wheels that combine the stability of the circular wheel and the obstacle climbing ability...
This paper presents a novel CPG-based gait generation of the curved-leg hexapod robot that can enable smooth gait transitions between multi-mode gaits. First, the locomotion of the curved leg and instability during the gait transitions are analyzed....
Whole-body motion planning is a key ability for legged robots, which allows for the generation of terrain adaptive behaviors and thereby improved mobility in complex environment. To this end, this paper addresses the issue of terrain geometry based w...
Compliant bipedal robots demonstrate a potential for impact resistance and high energy efficiency through the introduction of compliant elements. However, it also adds to the difficulty of stable control of the robot. To motivate the control strategi...
Legged robots suffer from the impact due to the consistent collisions with the ground. At the moment of collision, the sudden impact force not only causes the legs to lose contact off the ground, but can also reduce controllability and durability. Th...
Gait planning is an important basis for the walking of a legged robot. To improve the walking stability of multi-legged robots and to reduce the impact force between the foot and the ground, gait planning strategies are presented for an electrically...
Self-balancing robots, with their compact size, are capable of achieving high agility. Small wheel-legged self-balancing robots have demonstrated significant potential across various applications. However, expanding small self-balancing robots to lar...
Hexapod robots are attractive for operation in cluttered and uneven environments, but their walking stability is strongly affected by the coupled effects of leg morphology and foot-end trajectory planning. In many existing designs, leg-segment propor...
Bipedal walking robots are advancing research by performing challenging human-like movements in complex environments. Particularly, wheeled-bipedal robots are used in many indoor environments by overcoming the speed and maneuverability limitations of...
Manipulators with multi degree-of-freedom (DOF) are widely used for the peg-in-hole task. Compared with manipulators, six-legged robots have better mobility performance apart from completing operational tasks. However, there are nearly no previous st...
Legged robot locomotion remains a critical challenge in robotics, demanding control strategies that are not only dynamically stable and robust but also capable of adapting to complex and changing environments. deep reinforcement learning (DRL) has re...
In order to improve the dynamic performance of legged robots, this paper proposes a method for optimizing the parameters of the leg mechanism based on dynamic motion. The proposed method consists of two key parts as follows: support mechanism optimiz...
Mobile robots can replace humans to fulfill tasks in dangerous environments, which has been a research focus in recent years. This paper proposes a wheel-legged mobile robot with multi-locomotion and a low-energy consumption planning method. Differen...
Hexapod walking robots are a subject of intense research in the existing literature. To move effectively in natural terrain, these robots must be able to adapt to surface irregularities. While most existing designs employ sophisticated technical solu...
By emulating the morphological structures of organisms, bionic robots achieve enhanced locomotion efficiency, stability, and environmental adaptability. Inspired by insect morphology and biological locomotion mechanisms, a wheel-legged transformation...
Due to their inherent compliance, soft actuated joints are becoming increasingly important for robotic applications, especially when human-robot-interactions are expected. Several of these flexible actuators are inspired by biological models. One per...
In this paper, a single leg platform for quadruped robots is designed based on the motivation of high-speed locomotion. The leg is designed for lightweight and low inertia with a structure of three joints by imitating quadruped animals. Because high...
Physical compliance has been increasingly used in robotic legs, due to its advantages in terms of the mechanical regulation of leg mechanics and energetics and the passive response to abrupt external disturbances during locomotion. This article prese...
A wheeled–legged robot has the advantage of stable and agile movement on flat ground and an excellent ability to overcome obstacles. However, when faced with a narrow footprint, there is a limit to its ability to move. We developed the control...
The accurate perception of external environment information through the robot foot is crucial for the mobile robot to evaluate its ability to traverse terrain. Adequate foot-end contact signals can provide robust support for robot motion control and...
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