In this work, we use first principles of kinematics to provide a fundamental insight into mechanical power distribution within multi-actuator machines. Individual actuator powers—not their net sum—determine the efficiency and actuator size of a multi-joint machine. Net power delivered to the environment naturally discards important information about how that power is generated. For example, sim...

Besides the construction of the robots, the development of control software and tools for simulation and debugging are major topics of interest in the domain of soccer playing humanoid robots. In the RoboCup Four-Legged League, the whole research has—due to the existence of a standard platform—been focused on software development since many years. Therefore, a migration of successful software s...

Planning actions for real robots in dynamic ,and mlcertain environments is a challenging problem. It is not viable to use a complete model of the world: it is most appropriate to achieve goals mid handle uncertainty by integrating deliberation and behavior-based reactive planning. We successfully developed a system integrating perception and action for the RoboCup99 Sony legged robot league. Th...

As an inevitable trend, more and more robots are designed to be sold as household products in recent years. Famous examples like AIBO, RoboSapien, and Kondo, though aiming on different functionality respectively, are all affordable by general family. Among the robots stated above, four-legged robots have great advantage on locomotion over stair, uneven or multilevel floor, and floor with scatte...

A primary goal of comparative biomechanics is to understand the fundamental physics of locomotion within an evolutionary context. Such an understanding of legged locomotion results in a transition from copying nature to borrowing strategies for interacting with the physical world regarding design and control of bio-inspired legged robots or robotic assistive devices. Inspired from nature, legge...

Humanoid robots selectively emulate aspects of human form and behavior. Humanoids come in a variety of shapes and sizes, from complete human-size legged robots to isolated robotic heads with human-like sensing and expression. This chapter highlights significant humanoid platforms and achievements, and discusses some of the underlying goals behind this area of robotics. Humanoids tend to require...

In this article, we present a generic locomotion control framework for legged robots and strategy policy optimization. The is based on neural black-box combines central pattern generator (CPG) radial basis function (RBF) network to create CPG-RBF network. acts as produce arbitrary rhythmic trajectories the joints of robots. main features are: 1) it since can be applied with different morphologi...