background: despite some successful dynamic simulation of self-impact double pendulum (sidp)-as humanoid robots legs or arms- studies, there is limited information available about the control of one leg locomotion. objective   : the main goal of this research is to improve the reliability of the mammalians leg locomotion and building more elaborated models close to the natural movements, by mod...

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 ...

This paper presents the conceptual and functional design of a novel hybrid leg-wheel-track ground mobile robot for surveillance inspection, named WheTLHLoc (Wheel-Track-Leg Hybrid Locomotion). The aim work is development general-purpose platform capable combining tracked locomotion on irregular yielding terrains, wheeled with high energy efficiency flat compact grounds, stair climbing/descent a...

Recent developments in dynamic legged locomotion have focused on encoding a substantial component of leg intelligence into passive compliant mechanisms. One of the limitations of this approach is reduced adaptability: the final leg mechanism usually performs optimally for a small range of conditions (i.e. a certain robot weight, terrain, speed, gait, and so forth). For many situations in which ...

Chapter 1: Introduction Chapter 2: Human Walk Chapter 3: Study of Robot Leg Mechanisms 3.1 Effectiveness of leg joints relating to the walking. 3.2 Locations of leg joints. 3.3 Movable extent of leg joints. 3.4 Dimension, weight and center of gravity of a leg. 3.5 Torque placed on leg joints during the walking. 3.6 Sensors relating to the walking. 3.7 Grounding impact on leg joints during the w...

Roller-Walker is a leg-wheel hybrid mobile robot using a passive wheel equipped on the tip of each leg. The passive wheel can be transformed into sole mode by rotating the ankle roll joint when Roller-Walker walks on a rough terrain. This paper discusses energy efficiency of locomotion in wheeled mode. We define a leg trajectory to produce forward straight propulsion and discuss the relationshi...

This thesis presents a novel locomotion technique, called legless locomotion, for convex-bodied legged robots. The motivation for studying legless locomotion stems from the mobile robot recovery problem, stated simply as what should a robot do when trapped? Legless locomotion is the technique of locomotion for a legged robot which has no leg-ground contact, but can use the swinging legs to exci...

Abstract Biped robots are inherently unstable because of their complex kinematics as well dynamics. Despite many research efforts in developing biped locomotion, the performance locomotion is still far from expectations. This paper proposes a model-based framework to generate stable locomotion. The core this an abstract dynamics model which composed three masses consider stance leg, torso, and ...

In this work we research the role of body dynamics in the complexity of kinematic patterns in a quadruped robot with compliant legs. Two gait patterns, lateral sequence walk and trot, along with leg length control patterns of different complexity were implemented in a modular, feed-forward locomotion controller. The controller was tested on a small, quadruped robot with compliant, segmented leg...