Abstract In this article, the mechanical design and analysis of a novel three-legged, agile robot with passively compliant 4-degrees-of-freedom legs, comprising hybrid topology serial, planar spherical parallel structures, is presented. The aims to combine established principle Spring Loaded Inverted Pendulum model for energy efficient locomotion accuracy strength mechanisms manipulation tasks....

Legged locomotion enables robotic platforms to traverse on rough terrain, which is quite challenging for other types, such as in wheeled and tracked systems. However, this benefit—moving robustly terrain—comes with an inherent drawback due the higher cost of transport legged robots. The ultimate need energy efficiency motivated utilization passive dynamics locomotion. Nevertheless, a handicap d...

This paper presents the use of Rowat and Selverston-type of central pattern generator (CPG) to control locomotion. It focuses on the role of afferent exteroceptive and proprioceptive signals in the dynamic phase synchronization in CPG legged robots. The sensori-motor neural network architecture is evaluated to control a two-joint planar robot leg that slips on a rail. Then, the closed loop betw...

Actively articulated locomotion systems such as hybrid wheel-legged vehicles are a possible way to enhance the locomotion performance of autonomous mobile robot. In this paper, we address the control of the wheel-legged robot Hylos evolving on irregular sloping terrain.The redundancy involved in such system is used to optimize both the balance of traction forces and the tipover stability. The g...

This paper presents a full description of the design of a trot locomotion that has been implemented on AIBO quadrupeds in the Sony legged league. This work is inspired by the UNSW achievements in RoboCup 2000 and 2001 in Melbourne and Seattle. The French team rebuilt a complete trot locomotion from scratch, and introduced special features that differ from the Australian original design. Many pa...

In this paper we use symmetry methods to study networks of coupled cells, which are models for central pattern generators (CPGs). In these models the cells obey identical systems of differential equations and the network specifies how cells are coupled. Previously, Collins and Stewart showed that the phase relations of many of the standard gaits of quadrupeds and hexapods can be obtained natura...

This paper describes the development of a legged mobile robot. Legged locomotion has several advantages over wheels. The major advantage is the ability to traverse varied surfaces. However, legs must carry the full weight of the robot and this places great demands on the leg actuators, requiring a light robot structure. In most cases, the actuators contribute a large proportion of the weight, a...

This article presents an innovative legged-wheeled system, designed to be applied in a hybrid robotic vehicle’s locomotion as its driving member. The proposed system will capable combine the advantages of legged and wheeled systems, having 3DOF connected through combination both rigid non-rigid joints. configuration provides vehicle ability absorb impacts selected external disturbances. A state...

We review the mechanical components of an approach to motion science that enlists recent progress in neurophysiology, biomechanics, control systems engineering, and non-linear dynamical systems to explore the integration of muscular, skeletal, and neural mechanics that creates effective locomotor behavior. We use rapid arthropod terrestrial locomotion as the model system because of the wealth o...