There are more than 100 million land mines buried throughout the world, and, at present, the removal of these mines is primarily being done by hand. Our research group has suggested a mine detection method using six-legged robots, such as COMET-I, II, and III, to establish the land mine detection and removal technology. Mine detection by six-legged robots such as COMET-II and III have two manip...

Running efficiently and successfully over unstructured terrain is an important and necessary characteristic for modern legged robots. Research suggests that a necessary step toward achieving this goal is to design legged robots with variable leg stiffness capabilities which can be controlled by the robot autonomously. The specific problem addressed in this research is to develop a wireless (inf...

Multi-legged walking robots are suitable platforms for unstructured and rough terrains because of their immense locomotion capabilities. These are, however, redeemed by more sophisticated control energy-demanding motion in comparison to wheeled robots. Particularly, electrically actuated multi-legged suffer from the adverse ratio between robot body weight payload capacity. Moreover, speed endur...

The process of robot design is a complex task and the majority decisions are still based on human intuition or tedious manual tuning. A more informed way facing this computational methods where parameters concurrently optimized with corresponding controllers. Existing approaches, however, strongly influenced by predefined control rules motion templates cannot provide end-to-end solutions. In pa...

The speed and maneuverability at which legged animals can travel through rough and cluttered landscapes has provided inspiration for the pursuit of legged robots with similar capabilities. Researchers have developed reduced-order models of legged locomotion and have begun investigating complementary control strategies based on observed biological control schemes. This study examines a novel con...

Legged robots are well suited to walk on di cult terrains at the expense of requiring complex control systems to walk even on at surfaces. But simply walking on a at surface is not worth using a legged robot. It should be assumed that walking on abrupt terrain is the typical situation for a legged robot. With this premise in mind, we have developed a robust controller for a six-legged robot tha...

Locomotion over soft terrain remains a challenging problem for legged robots. Most of the work done on state estimation robots is designed rigid contacts and does not take into account physical parameters terrain. That said, this letter answers following questions: How why affect robots? To do so, we utilized estimator that fuses IMU measurements with leg odometry contact assumptions. We experi...

This paper presents a multibody simulation framework developed to study the locomotion control of modular robots. The resulting model aims at featuring the main parts that characterize actual modular robots including kinematics, inertia properties, actuators and the associated controllers. As the framework is dedicated to modular robots, we spend some time to describe its core element, the modu...