A Wheels-on-Knees Quadruped Assistive Robot to Carry Loads

Vizzy: A Humanoid on Wheels for Assistive Robotics

The development of an assistive robotic platform poses exciting engineering and design challenges due to the diversity of possible applications. This article introduces Vizzy, a wheeled humanoid robot with an anthropomorphic upper torso, that combines easy mobility, grasping ability, human-like visual perception, eye-head movements and arm gestures. The humanoid appearance improves user accepta...

Study on Quadruped Walking Robot

Though development of a practical walking robot is not easy at all, walking robots have many practical advantages resulting from moving functions peculiar to this type of robots including excellent moving characteristics and working characteristics on uneven land. Paying special attention to the encouraging possibility of the walking robot, the authors have been continuing research and developm...

Learning Compliant Locomotion on a Quadruped Robot

Over the last decades, compliant locomotion and manipulation have become a very active field of research, due to the versatility that robots with such capabilities would offer in many applications. With very few exceptions, generally, robotic applications and experiments take place in controlled environments. One of the reasons of this limited use is that in real world scenarios, robots need to...

Applying Kalman Filtering on a Quadruped Robot

Robot Phase Entrainment on Quadruped CPG Controller

Central Pattern Generators are used in several kinds of robot locomotion, from swimming and flying, to bipeds, quadrupeds and hexapods. It is thought that this approach can yield better results in dynamical and natural environments. In this work we expand a previous quadruped locomotion controller and propose a method to couple the step cycle phase onto the locomotor CPG of a quadruped robot, c...