A walking-assistant robot guided by the intention and power-driven is presented, its purpose is to provide physical support and walking assistance for the elderly to meet their needs of walking autonomy, friendliness, and maintaining the ability of walking and taking care of themselves. Tactile and slip sensor is selected as the human interface to perceive the user’s walking intent, and the sen...

In this study, we consider the problem of walking in an unknown generalized street or G-street, for a simple robot. The basic robot is equipped with a sensor that only detect the discontinuities in depth information (gaps). In the former recent researches some competitive strategies for walking the robot in street polygons have been presented. In this research we have empowered the robot by add...

In this paper, recent progress in the development of the DLR Crawler a six-legged, actively compliant walking robot prototype is presented. The robot implements a walking layer with a simple tripod and a more complex biologically inspired gait. Using a variety of proprioceptive sensors, different reflexes for reactively crossing obstacles within the walking height are realised. On top of the wa...

A planning technique for six-legged walking robot is presented in this thesis along with a terrain modelling approach that allows to exploit possible supporting footholds of the surface. The proposed approach for merging measurements provided by a depth camera sensor allows to reconstruct the robot surrounding. Based on the measurements of the environment, a grid based elevation map is construc...

In this paper, we discuss development of a sprawling-type quadruped robot named TITAN-XIII which is capable of high speed and energy efficient walking. We consider a sprawling-type quadruped robot is practical, because of its high stability which comes from the large supporting leg polygon and the low center of gravity. However in previous researches, the speed and the energy efficiency of a sp...

This paper describes how a distributed neural architecture for the general control of robots has been applied for the generation of a walking behaviour in the Aibo robotic dog. The architecture described has been already demonstrated useful for the generation of more simple behaviours like standing or standing up. This paper describes specifically how it has been applied to the generation of a ...

This paper develops feedback controllers for walking in 3D, on level ground, with energy efficiency as the performance objective. ATRIAS 2.1 is a new robot that has been designed for the study of 3D bipedal locomotion, with the aim of combining energy efficiency, speed, and robustness with respect to natural terrain variations in a single platform. The robot is highly underactuated, having 6 ac...

The paper presents the navigation of mobile walking robot systems for movement in non-stationary and non-structured environments. In the first approach are presented main elements for the successful completion of intelligent navigation. The wireless sensor networks (WSN), dynamical stability control, strategies for dynamical control and a Bayesian approach of simultaneous localisation and mappi...

The use of a proposed recurrent hybrid neural network to control of walking robot with four legs is investigated in this paper. A neural networks based control system is utilized to the control of four-legged walking robot. The control system consists of four proposed neural controllers, four standard PD controllers and four-legged planar walking robot. The proposed neural network (NN) is emplo...