This paper deals with communication in tasksharing between two autonomous six-legged robots equipped with object and goal sensing, and a repertoire of contact and light-following behaviors. The performance of pushing an elongated box toward a goal region is di cult for a single robot and improves signi cantly when performed cooperatively, but requires careful coordination between the robots. We...

In this paper, we study the differential kinematics and the kineto-static manipulability indices of multiple cooperating robot arms, including active and passive joints. The kinematic manipulability indices are derived extending previous results on cooperating robots without passive joints. The force manipulability analysis for cooperative robot systems cannot be straightforwardly derived by “d...

Many legged robots have been built with a variety of different abilities, from running to hopping to climbing stairs. Despite this however, there has been no consistency of approach to the problem of getting them to walk. Approaches have included breaking down the walking step into discrete parts and then controlling them separately, using springs and linkages to achieve a passive walking cycle...

This paper considers legged robot teleoperation using advanced supervisory tools. It is nowaday recognized that designing completely autonomous robots to act on unstructured or not well known environments is an utopic goal. Human operator must be kept in the control loop (supervision) during the exploratory or manipulation procedure. We propose to use virtual reality (VR) technology to enhance ...

In the present paper, an attempt has been made to carry out kinematic and dynamic analysis of a six-legged robot. A three-revolute (3R) kinematic chain has been chosen for each leg mechanism in order to mimic the leg structure of an insect. Denavit–Hartenberg (D-H) conventions are used to perform kinematic analysis of the six-legged robot. The direct and inverse kinematic analysis for each leg ...

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...

In human and animal locomotion, compliant structures play an essential role in the body and actuator design. Recently, researchers have started to exploit these compliant mechanisms in robotic systems with the goal to achieve the yet superior motions and performances of the biological counterpart. For instance, compliant actuators such as series elastic actuators (SEA) can help to improve the e...

SPQR + ISocRob is a joint team between two research groups: SPQR (Italy) and IsocRob (Portugal). SPQR (Soccer Player Quadruped Robots) is the group of the Faculty of Engineering at University of Rome “La Sapienza” in Italy, that is involved in RoboCup competitions since 1998 in different leagues (Middle-size 1998-2002, Four-legged since 2000, Real-rescue-robots since 2003, Virtual-rescue and @H...

Coordinate identification between vision systems and robots is quite a challenging issue in the field of intelligent robotic applications, involving steps such as perceiving the immediate environment, building the terrain map and planning the locomotion automatically. It is now well established that current identification methods have non-negligible limitations such as a difficult feature match...