Legged locomotion enables humans and animals to traverse difficult terrain with great agility. Their skills to overcome large obstacles are impressive and superior to those of stateof-the-art legged robots. Our motivation is therefore to develop novel control methods for quadrupedal robots to increase their performance in this regard. More precisely, we seek for motor skills for the quadruped r...

The study of terrestrial locomotion has compelling applications ranging from design of legged robots to development of novel prosthetic devices. From a first-principles perspective, the dynamics of legged locomotion seem overwhelmingly complex as nonlinear rigid body dynamics couple to a granular substrate through viscoelastic limbs. However, a surfeit of empirical data demonstrates that animal...

This paper presents analytical and experimental results of an investigation of joint actuators and their suitability for a particular class of complex mechanisms: serpentine robots. In practice, serpentine robots usually comprise of multiple segments connected by joints. Some serpentine robots provide legged, wheeled, or tracked propulsion, and, in addition, actuation for the joints. We compare...

This is the Institution of Engineering and Technology (IET) Cyber-systems Robotics Special Issue Advances in Legged Robots: Control, Perception Learning. mammals are found everywhere nature. These legged animals can reach anywhere on Earth, adapt to uneven, discontinuous obstructed environment. Their locomotion patterns flexible diverse better living Imitating these real animals, robots have po...

Although legged mobile robots are inferior to wheeled or crawler types in mobility efficiency on the flat ground, they demonstrate high motion performance and adaptation capability to the ground by utilizing their high degrees of freedom (DOF). Since such robots choose stable leg-placement, stable movements can be performed on irregular terrains ( afak & Adams, 2002). Moreover, they demonstrate...

The wheel-legged robot combines the functions of wheeled vehicles and legged robots: high speed passability. However, limited performance existing joint actuators has always been bottleneck in actual applications large robots. This paper proposed a highly integrated electro-hydrostatic actuator (EHA) to enable high-dynamic giant robots (>200 kg). A prototype with force-to-weight ratio was de...