In this study, we proposed an origami pump actuator based pneumatic quadruped robot (OPARO). The was constructed with a four-leg system controlled by only two motors. Specifically, the forelegs and hindlegs are pneumatically coupled to operate simultaneously tendon-driven system. performs pumping actuating supply air hindlegs, passively actuated from forelegs. We conducted series of experiments...

We investigate the application of a Monte Carlo localization filter to the problem of combining local and global observations of a small, off-the-shelf quadruped domestic robot, in a simulated Smart House environment, for the purpose of robust tracking and localization. A Sony Aibo ERS-210A robot forms part of this project, with the ultimate aim of providing additional monitoring, human-system ...

This paper is concerned with locomotion systems modelling and control; in particular the locomotion of bio-mimetically inspired quadruped robots. Using observations and experimentations, we propose a virtual model of quadruped with no dorsal vertebrae, such as the case in the majority of legged mobile robots. This condition applies to the terrestrial tortoise and makes it a good example for bio...

The central pattern generator (CPG) has been found to be a real, existing neuron controller for the locomotion control of animals and it has been used on bio‐inspired robots widely in recent years. However, research on the adaptability of CPG‐based locomotion control methods is still a challenge. In particular, the performance of the CPG method on qua...

Walk can be classi ed as \static walk" and \dynamic walk". It is said that dynamic walk is superior in both speed and energy consumption. This paper describes how a quadruped robot should walk dynamically to realize these advantages. Such consideration is lacking in past research. In this paper, three criteria are introduced to evaluate the walk { `stability', `maximum speed' and `energy consum...