The motion planning problems encountered in manipulation and legged locomotion have a distinctive multi-modal structure, where the space of feasible configurations consists of overlapping submanifolds of non-uniform dimensionality. These spaces do not possess expansiveness, a property that characterizes whether planning queries can be solved with traditional sample-based planners. We present a ...

This study proposes a hierarchically integrated framework for safe task and motion planning (TAMP) of bipedal locomotion in partially observable environment with dynamic obstacles uneven terrain. The high-level planner employs linear temporal logic reactive game synthesis between the robot its provides formal guarantee on navigation safety completion. To address environmental partial observabil...

Abstract This paper presents the kinematic calibration of a novel six-legged walking machine tool comprising mobile robot integrated with parallel manipulator on body. Each leg is 2-universal-prismatic-spherical (UPS) and UP mechanism, 6-PSU mechanism. The error models both subsystems are derived according to their inverse kinematics. objective function for each limb formulated as residual, i.e...

C-legged hexapod robots offer a balanced trade-off between the robust stability of wheeled and increased-motion capabilities legged robots, therefore, are currently great interest. This article investigates impact mass, leg radius, angular velocity on energy consumption in order to develop set design guidelines that maximize robot’s performance. The kinematic model single C-leg system is obtain...

I. MOTIVATION Models of terrestrial legged locomotion are almost invariably hybrid, containing a discontinuity in the equations of motion when feet land on the ground. While some animals are bipedal, the great majority of legged locomotion on land is done with 4, 6 or more legs. Poly-pedal gaits for moderate or high-speed locomotion usually include multiple legs striking the ground that once (o...

This paper describes experiments with an electrically actuated one legged hopping robot the ARL Monopod While a spring mass system comprised of the leg spring and the body mass has previously provided the basic passive dynamic vertical motion we have now added a spring in se ries with the hip actuator to use the same passive dynamic principle for the leg swing motion This paper validates our pr...