This paper deals with locomotion control of legged robots using nonlinear oscillators. The proposed control system is composed of a motion plan system and a motion control system. The motion plan system is composed of a motion generator and a trajectory generator. The nonlinear oscillators in the motion generator tune the phases through the feedback signals from the touch sensors at the tips of...

RoboCup legged soccer is an international soccer competition between autonomous, four-legged robots. In past competitions, collisions between robots were common. My objective, therefore, was to augment the robots’ sensor systems to allow them to avoid and recover from such collisions; this would both speed up the game and enable the robots to dribble the ball around other players. I have increa...

In this paper, we present a fully original control architecture for legged-and-climber robots that is level-based, hierarchical, and centralized. The gives the ability to perform self-reconfiguration after unforeseen leg failures, because it can kind of robot with different numbers legs. results show capability performing movements in any direction inclination planes. components functionalities...

Legged locomotion is widespread in nature and has inspired the design of current robots. The controller these legged robots often realized as one centralized instance. However, nature, control movement happens a hierarchical decentralized fashion. Introducing biological principles into robotic systems motivated this work. We tackle question whether beneficial for present novel decentral, archit...

Abstract Legged robots have potential advantages in mobility compared with wheeled outdoor environments. The knowledge of various ground properties and adaptive locomotion based on different surface materials plays an important role improving the stability legged robots. A terrain classification method for a hexapod robot named Qingzhui is proposed this paper. First, force-based suggested. Grou...