Re-planning in legged locomotion is crucial to track the desired user velocity while adapting terrain and rejecting external disturbances. In this work, we propose test experiments a real-time Nonlinear Model Predictive Control (NMPC) tailored robot for achieving dynamic on variety of terrains. We introduce mobility-based criterion define an NMPC cost that enhances quadruped robots maximizing l...

Developing feasible body trajectories for legged systems on arbitrary terrains is a challenging task. In this paper, we present paradigm that allows to design Center of Mass (CoM) and in an efficient manner. our previous work [1], introduced the notion 2D region, where static balance satisfaction joint torque limits were guaranteed, whenever projection CoM lied inside proposed admissible region...

Locomotion over soft terrain remains a challenging problem for legged robots. Most of the work done on state estimation robots is designed rigid contacts and does not take into account physical parameters terrain. That said, this letter answers following questions: How why affect robots? To do so, we utilized estimator that fuses IMU measurements with leg odometry contact assumptions. We experi...

Legged robots have gained an increased attention these past decades since they offer a promising technology for many applications in unstructured environments where the use of wheeled robots is clearly limited. Such applications include exploration and rescue tasks where human intervention is difficult (e.g. after a natural disaster) or impossible (e.g. on radioactive sites) and the emerging do...

It has been shown that max-plus linear systems are well suited for applications in synchronization and scheduling, such as the generation of train timetables, manufacturing, or traffic. In this paper we show that the same is true for multi-legged locomotion. In this framework, the max-plus eigenvalue of the system matrix represents the total cycle time, whereas the max-plus eigenvector dictates...

Locomotion persists across all manner of internal and external perturbations. The objective of this study was to identify locomotor compensation strategies in rodent models of peripheral nerve injury. We found that hip-to-toe limb length and limb angle was preferentially preserved over individual joint angles after permanent denervation of rat ankle extensor muscles. These findings promote furt...