From 1970’s, legged robots have attracted much attention of many researchers. In spite of this, it has been regarded that dynamically stable walking is very difficult to be tackled for any types of legged robots. For a trot gait for quadruped walking robots, we have proposed “the sway compensation trajectory”. This method utilizes a lateral, longitudinal, and vertical motion of a robot body to ...

Slipping and Tripping Re exes for Bipedal Robots Gary N. Boone and Jessica K. Hodgins Abstract|Many robot applications require legged robots to traverse rough or unmodeled terrain. This paper explores strategies that would enable legged robots to respond to two common types of surface contact error: slipping and tripping. Because of the rapid response required and the di culty of sensing uneven...

Slipping and Tripping Re exes for Bipedal Robots Gary N. Boone and Jessica K. Hodgins Abstract|Many robot applications require legged robots to traverse rough or unmodeled terrain. This paper explores strategies that would enable legged robots to respond to two common types of surface contact error: slipping and tripping. Because of the rapid response required and the di culty of sensing uneven...

The Basilisk Lizard’s striking ability to sustain highly dynamic legged locomotion on a range of surfaces from hard-ground to water is a remarkable feat [1]. Most legged robots would have di culty emulating this animal’s ability to robustly locomote on yielding or deforming surfaces. Therefore, to explore the dynamics of legged locomotion in this regime, we are studying the design of a bio-insp...

In this paper, we report on a new stability analysis for hybrid legged locomotion systems based on factorization of return maps. We apply this analysis to a family of models of the Spring Loaded Inverted Pendulum (SLIP) with different leg recirculation strategies. We obtain a necessary condition for the asymptotic stability of those models, which is formulated as an exact algebraic expression d...

In this paper, several considerations for designing industry oriented robots which combine the mobility of legged robots and advantages of parallel mechanisms are outlined. For designing such optimized robots in terms of simplicity and performance, a topology study is done based on the mobility analysis. Applying some design constraints, potential topologies of such robots are identified. One a...

This paper deals with Epi.q, a family of mobile robots whose main characteristic is a wheel-legged hybrid locomotion. These multi-purpose robots can be successfully exploited for security and surveillance tasks. The document presents state of the art security robotics, the Epi.q mechanical architecture, the concept behind the robot driving unit, three prototypes and the design of a new one.

To study the design, control and energetics of autonomous dynamically stable legged machines we have built a planar one-legged robot, the ARL Monopod. Its top running speed of 4.3 km/h (1.2 m/s) makes it the fastest electrically actuated legged robot to date. We adapted Raibert's control laws for the low power electric actuation necessary for autonomous locomotion and performed a detailed energ...

Legged locomotion is used by most of the animals and human beings on the earth. Legged locomotion is preferred over the wheeled locomotion as it can be used for both flat and rough terrains. In this paper, an attempt has been made for the dynamic modelling and simulation of four legged jumping robots with compliant legs. Sagittal plane and bounding gait has been used. For energy saving passive ...

Legged robots have excellent terrestrial mobility for traversing diverse environments and, thus, the potential to be deployed in a wide variety of scenarios. However, they are susceptible falling and leg malfunction during locomotion. Although use large number legs can overcome these problems, it makes body long leads many being constrained contact with ground support body, which impedes maneuv...