For a quadruped robot with 12 active joints driven by linear hydraulic actuators, some important parameters, such as the oil flow of the hydraulic system and the needed maximum output force of each actuator, are hard to calculate precisely with kinematics and dynamics equations. The oil flow is mainly determined by the walking speed of the quadruped robot, but also influenced by the stride freq...

We compare the effects of linear and piecewise linear compliant spines on locomotion performance of quadruped robots in terms of energy efficiency and locomotion speed through a set of simulations and experiments. We first present a simple locomotion system that behaviorally resembles a bounding quadruped with flexible spine. Then, we show that robots with linear compliant spines have higher lo...

This paper presents a combination of transverse and trot walking pattern technique for hexa-quad robot after transformation to optimize the multi-legged robot operation and walking performances. Due to the limitation on the stability of hexapod robot, the combination of hexa-quad walking sequence is proposed to stabilize the quadruped configuration and walking modes. Quadruped robot configurati...

The ability to perform different tasks by a serial manipulator mounted on legged robots, increases the capabilities of the robot. The position/force control problem of such a robot in the stance phase with point contacts on the ground is investigated here. A target plane with known stiffness is specified in the workspace. Active joints of the legs and serial manipulator are used to exert the de...

This paper presents the methodology used for finding the optimal set of foot trajectories for a quadruped robot using manual tuning and multiobjective genetic algorithm optimization that provide energy efficient and fast locomotion. Manual trajectory tuning is used to obtain initial set of trajectories for the multiobjective GA optimization. The multiobjective optimization evaluates the energy ...

Last year, the IEEE Robotics and Automation Society (RAS) CAB Competition Committee proposed Quadruped Robot Challenge (QRC) as an exemplary robot challenge organized by RAS at RAS’s major conferences. As a part of project, first version QRC was held in ICRA 2023 London. In this column, we would like to introduce challenges results.