Legged off-road vehicles exhibit better mobility while moving on rough terrain. Development of legged mechanisms represents a challenging problem and has attracted significant attention from both artists and engineers.The Theo Jansen mechanism is gaining widespread popularity among the legged robotics community due to its scalable design, energy, efficiency, low payload-to-machine-load ratio, b...

Legged robots have been studied and developed for a long time. The primary advantage of legged motion is that they can traverse terrains inaccessible to wheeled robots. Biped robots are probably the most complicated of legged robots. Despite their complexity there has been a substantial amount of work done in the field including different techniques that have been developed to model, design and...

The task of producing steady, stable and energy efficient locomotion in legged robots with the ability to walk in unknown terrain have for many years been a big challenge in robotics. This work is focusing on how different robots build from the modular robotic system, LocoKit by Larsen et. la [3], performs compared to animals, and also on the similarities between robots an animals. This work sh...

Multibody systems such as legged robots require sophisticated and efficient methods for their modeling, control and simulation. This paper discusses the development of a software library based on modern tools such as C++, OpenGL and XML for highly efficient dynamics modeling. A primary focus lies on modularity permitting its easy extensibility in connection with different actuation and contact ...

0.1016/j.dcan.201 hongqing Universi thor. : [email protected] du (N. Rojas), u.sg (M.R. Elara), du.sg (R. Sosa), jp (M. Iwase). Abstract Legged robots based on one degree-of-freedom reconfigurable planar leg mechanisms, that are capable of generating multiple useful gaits, are highly desired due to the possibility of handling environments and tasks of high complexity while maintaining simple co...