13 A highly compliant, sensor-lined antenna probe can provide mobile robots with tactile information about immediate surroundings for exploration and localization. Analogous in structure and function to insect antennae, this type of antenna probe can be especially useful for feedback to highly dynamic and complex platforms such as fast running legged robots, providing direct information about t...

This manuscript is the second of two parts of a work investigating optimal configurations of legged climbing robots while loitering on vertical surfaces. In this Part 2, a structural analysis based on the finite element method, specifically the stiffness method, is performed to address the problem. Parameters that are investigated in this Part 2 include the inclination of both the body and the ...

Legged robots have extremely important applications in unstructured environments, e.g. accomplishing rescuing and detecting tasks in the earthquake and nuclear accidents instead of human beings. In such environments, legged robots must have the potential to plan gaits autonomously based on the site environment without detailed instructions from a human operator. In this paper, we present an aut...

This paper describes a method to identify the extrinsic parameters of RGB-D cameras mounted on legged robots. Since the calculation of the parameters is based on the detection of the robots feet in the camera images, no special calibration objects are required. Therefore the method is simple to use and can even be applied automatically. Experiments demonstrate the precision and the robustness o...

Robots that can move over rough terrain with active body leveling are now in strong demand. Such a robot can have a variety of uses, such as carrying packages, assisting people who have difficulty in walking, and safety monitoring outdoors. Many robots capable of moving over rough terrain exist as research tools; however, few are suitable for practical use. These robots can be generally classif...

Robust techniques for pose estimation are essential in computer vision and robotic manipulation tasks. We present a novel approach for pose estimation based on angular color cooccurrence histograms and its application to robot players (Sony Aibo) in the Sony Four-Legged Robot League. The presented method is computationally efficient as no features have to be extracted from the image. The repres...

This paper presents the use of Rowat and Selverston-type of central pattern generator (CPG) to control locomotion. It focuses on the role of afferent exteroceptive and proprioceptive signals in the dynamic phase synchronization in CPG legged robots. The sensori-motor neural network architecture is evaluated to control a two-joint planar robot leg that slips on a rail. Then, the closed loop betw...

With the extension of robot applications, robot with high adaptability and high load capacity become a new focus in the recent years. Wheeled robots have the advantages of high load and speed, but this is limited in specified substrate. Legged robots inspired by the legged animals could move on rough terrain, so it was selected as a robot prototype for the high adaptability and high load capaci...

This paper surveys past and current designs of surface mobility systems lor planetary exploration i robots developed at JPL/Canech. Wheeled rovers are ! discussed in some detail, andxompared to new designs, such as legged and hopping robots, which are emerging as viable alternatives to wheeled mobility for specific applications. The paper discusses the main features of mobility designs and summ...

Compared with wheeled and tracked robots, legged robots have better movement ability are more suitable for the exploration of unknown environments. In order to further improve adaptability complex terrains such as slopes, obstacle environments, so on, this paper makes a new design robot’s foot sensing structure that can successfully provide accurate feedback landing information. Based on inform...