In this paper, we develop a hybrid control approach for legged locomotion. We motivate the development of the control architecture using the results of a series of walking, running and obstacle climbing experiments conducted using a six legged robot called HEX. Our initial simulation results indicate the potential stability of the control approach, and our future analytical work should provide ...

This paper presents and empirically compares solutions to the problem of vision and self-localization on a legged robot. Specifically, given a series of visual images produced by a camera on-board the robot, how can the robot effectively use those images to determine its location over time? Legged robots, while generally more robust than wheeled robots to locomotion in various terrains (Wetterg...

As the mobile telecommunication systems are growing tremendously all over the world, the numbers of handheld and base stations are also rapidly growing and it became very popular to see these base stations distributed everywhere in the neighborhood and on roof tops which has caused a considerable amount of panic to the public in Palestine concerning wither the radiated electromagnetic fields fr...

Wheel-legged robot which combines the advantages of wheeled robot and legged robot can be better adapted to complex environment. Increasing the operation function of the robot is one of the hottest topics in this field. A novel six wheel-legged robot is designed in the form of leg structure, body structure and the combination between wheels and legs. The DOF of single leg and multi-legged close...

The Brazilian chiropteran fauna consists of 167 species; of which, three are hematophagous: the common vampire bat (Desmodus rotundus), the white-winged vampire bat (Diaemus youngi), and the hairy-legged vampire bat (Diphylla ecaudata). The aim of this study was to describe the isolation of Rabies virus from common and hairy-legged vampire bats and to report the first comparative antigenic and ...

To assess the effect of leg length on jumping ability in small insects, the jumping movements and performance of a sub-family of leafhopper insects (Hemiptera, Auchenorrhyncha, Cicadellidae, Ulopinae) with short hind legs were analysed and compared with other long-legged cicadellids (Hemiptera, Auchenorrhyncha, Cicadellidae). Two species with the same jumping characteristics but distinctively d...

The speed and maneuverability at which legged animals can travel through rough and cluttered landscapes has provided inspiration for the pursuit of legged robots with similar capabilities. Researchers have developed reduced-order models of legged locomotion and have begun investigating complementary control strategies based on observed biological control schemes. This study examines a novel con...

Legged robots are well suited to walk on di cult terrains at the expense of requiring complex control systems to walk even on at surfaces. But simply walking on a at surface is not worth using a legged robot. It should be assumed that walking on abrupt terrain is the typical situation for a legged robot. With this premise in mind, we have developed a robust controller for a six-legged robot tha...

Non-repudiation is a security service that provides cryptographic evidence to support the settlement of disputes. In this paper, we introduce the state-of-the-art of non-repudiation protocols for multiple entities. We extend an existing multi-party non-repudiation (MPNR) protocol to allow an originator to send different messages to many recipients in a single transaction. We further propose an ...