In legged locomotion, the active forcing contributed by the leg can be considered to act in rotary and radial directions relative to the leg. Rotary forcing acting perpendicular to the leg, such as forcing due to hip torque, and radial forcing acting in the direction along the leg from foot to hip, are both present in animal locomotion. Given that these directions are orthogonal, simple rotary ...

We present Oncilla robot, a novel mobile, quadruped legged locomotion machine. This large-cat sized, 5.1 kg robot is one of a kind of a recent, bioinspired legged robot class designed with the capability of model-free locomotion control. Animal legged locomotion in rough terrain is clearly shaped by sensor feedback systems. Results with Oncilla robot show that agile and versatile locomotion is ...

The Basilisk Lizard’s striking ability to sustain highly dynamic legged locomotion on a range of surfaces from hard-ground to water is a remarkable feat [1]. Most legged robots would have di culty emulating this animal’s ability to robustly locomote on yielding or deforming surfaces. Therefore, to explore the dynamics of legged locomotion in this regime, we are studying the design of a bio-insp...

In this paper, we report on a new stability analysis for hybrid legged locomotion systems based on factorization of return maps. We apply this analysis to a family of models of the Spring Loaded Inverted Pendulum (SLIP) with different leg recirculation strategies. We obtain a necessary condition for the asymptotic stability of those models, which is formulated as an exact algebraic expression d...

Arthropods are the most successful members of the animal kingdom largely because of their ability to move efficiently through a range of environments. Their agility has not been lost on engineers seeking to design agile legged robots. However, one cannot simply copy mechanical and neural control systems from insects into robotic designs. Rather one has to select the properties that are critical...

This paper illustrates the analysis of locomotion in the gastrointestinal tract obtainable by a legged capsule for diagnostic and therapeutic purposes. A preliminary simulation of the legged locomotion onto slippery and deformable substrates has been performed and simultaneously mechanisms for on board actuation of the legs have been developed and tested. Moreover, an engineering translation of...

In recent years, there has been increasing interest in legged locomotion, primarily due to the realization that wheeled locomotion has inherent limitations on unstructured environments. The use of legs, adopted by many animals and insects who need to locomote over a wide range of di erent terrain conditions, seems to be the most natural and e ective solution to the problem. In this context, we ...

A variety of impressive approaches to legged locomotion exist; however, the science of legged robotics is still far from demonstrating a solution which performs with a level of flexibility, reliability and careful foot placement that would enable practical locomotion on the variety of rough and intermittent terrain humans negotiate with ease on a regular basis. In this thesis, we strive toward ...