Mobile manipulators are extensively used in various applications. Most of the mobile built on a wheeled platform. A platform performs well flat terrains but is not suitable for navigation rough terrains. The legged robots commonly terrain However, speed lesser than robots. This paper focuses development hybrid wheellegged to overcome above difficulties. proposed model quadruped with five degree...

Human beings, animals and some birds use their legs to move with great mobility, but we do not yet have a full understanding of their motion mechanism. The reason is that we lack man-made robots that use legs to obtain high mobility. We, especially, need two-legged robots that are able to adapt to human living environments such as offices and homes. In order to analyze a human walking mechanism...

To my wife, my daughter, and my parents. j j j j j j ii ABSTRACT ABSTRACT This thesis aims at the understanding, the design, the dynamics, and primarily, the control of a one{legged running robot with the goal of maximizing its energy eeciency. The approach exploits the leg's passive dynamics, the unforced periodic leg swing motion. We introduce a strategy, termed \Controlled Passive Dynamic Ru...

For a legged robot such as a humanoid, balancing its body during a given motion is natural but the most important problem. Recently, a motion given to a humanoid is more and more complicated, and thus the balancing problem becomes much more critical. This paper suggests a real-time motion generation algorithm that guarantees a humanoid to be balanced during implementing a given motion. A desire...

This Paper is about landing control of legged robot. Body stiffness and damping is used as landing strategy of a legged robot. First, we only used stiffness control method to control legged robot landing. Second control method,sliding mode controller and feedback linearization controller is applied to enhance position control performance. Through these control algorithm, body center of gravity ...

This paper aims to solve a major drawback of walking robots i.e. their inability to react to environmental disturbances while navigating in natural rough terrains. This problem is reduced here by suggesting the use of a hybrid force‐position control based trajectory generation with the impact dynamics into consideration that compensates for the stabilit...

This article describes the four-legged walking integration study ARAMIES and the developed control software approach. Furthermore, we analyze a first walking experiment carried out. We explain how CPG-like rhythmic motion patterns can be produced on the basis of Bezier-splines, resulting in a very simple and flexible way to produce complex walking trajectories which can be modulated in phase, f...

This paper compares the performance of classical position PD algorithm with a cascade controller involving position and force feedback loops, for multi-legged locomotion systems and variable ground characteristics. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. Moreover, we formulate several performance measures of the walking robot bas...

| The system under investigation is the hydraulically driven autonomous large scale combined legged and wheeled vehicle ALDURO. In this paper two complete mechatronic simulation models, realized in the object-oriented programming language C++, will be presented. Both contain the mechanical system including an explicit solution of the kinematic loops. The rst model is used as a basis for a model...