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...

snake robots are hyper-redundant robots that are connected with one or two dof joints. they offer a number of potential advantages beyond the capabilities of most wheeled and legged robots. in this paper, kinematics and dynamics of a planar multi-link snake robot in worm-like locomotion on an inclined surface is investigated. in this locomotion, snake robot is able to move in the vertical plane...

Legged locomotion is attractive because it can enable a robot to traverse far more varied terrain than a wheeled rover is capable of. In the context of planetary exploration, this is especially attractive as the sites of greatest scientific interest tend to be characterized by difficult terrain. For example, it would be extremely difficult for a wheeled rover to make its way into a lunar crater...

We present a feedforward control for spring-legged systems in uneven terrain which keeps the running speed constant. The control uses the unique transformation between ground level and flight time to automatically adapt the system parameters during flight to the actual ground level without having to detect it. We further demonstrate how this control for constant speed running can simultaneously...

To study the design, control and energetics of autonomous dynamically stable legged machines we have built a planar one-legged robot, the ARL Monopod. Its top running speed of 4.3 km/h (1.2 m/s) makes it the fastest electrically actuated legged robot to date. We adapted Raibert's control laws for the low power electric actuation necessary for autonomous locomotion and performed a detailed energ...

Legged robots and animals can exhibit a variety of locomotory skills, trotting and walking being the most widely used modes of locomotion. Such behaviours are often defined with the overall stability of the system in mind and are inherently of periodic nature. Legged robots, possibly equipped with arms as well, in everyday scenarios, e.g. service or forestry/agriculture, will require also skill...

The paper provides experimental evidence to support the recently introduced Switching Four-bar Mechanism (SFM) model as a template for small-scale legged locomotion in quasi-static operation regimes. The evidence suggests that the SFM is suitable for capturing salient motion behaviors—or motion primitives—for multiple, morphologically distinct miniature legged robots. Such primitives can be use...

The design of legged robotic systems targeted for climbing on steep terrain is critical expanding exploration in challenging terrain. While the most advanced quadruped robots show encouraging performance level locomotion, there little knowledge optimal robots. In this paper, we investigate quadrupedal with different joint topologies. To end, present a quantitative comparison performed simulatio...

Control of legged locomotion across uneven terrain is poorly understood from a theoretical perspective, despite strong relevance to clinical and robotic applications. Gait research has typically examined locomotion on smooth and level surfaces with uniform steps. Identifying key gait parameters that permit agile locomotion across uneven surfaces could lead to a clearer understanding of control ...

There are limitations on the extent to which manually constructed mathematical models can capture relevant aspects of legged locomotion. Even simple models for basic behaviours such as running involve non-integrable dynamics, requiring the use of possibly inaccurate approximations in the design of model-based controllers. In this study, we show how data-driven frequency domain system identifica...