Every day new technology appears. In the field of legged robots, it is not otherwise. LIDAR vision, artificial intelligence, computing power and drives help to improve state robots. One unsolved problems still terrain navigation, such as locomotion in resistive terrain. To determine correct locomotion, research must be carried out. this paper, we compare two different situations, where a six-le...

The study of terrestrial locomotion has compelling applications ranging from design of legged robots to development of novel prosthetic devices. From a first-principles perspective, the dynamics of legged locomotion seem overwhelmingly complex as nonlinear rigid body dynamics couple to a granular substrate through viscoelastic limbs. However, a surfeit of empirical data demonstrates that animal...

Legged locomotion requires the determination of a number of parameters such as stride period, stride length, order of leg movements, leg trajectory, etc. How are these parameters determined? It has been reported that the locomotor patterns of many legged animals exhibit common characteristics, which suggests that there exists a basic strategy for legged locomotion. In this study we derive an eq...

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 ...

A variety of conceptual models has been introduced to study legged locomotion. Such models offer unifying descriptions of task-level locomotion behaviors, and inform control design for legged robots. Our work focuses on models for quadrupedal running, with the objective to better understand the effect of torso compliance on gait stability and efficiency.

This two-part paper discusses the analysis and control of legged locomotion in terms of N-step capturability: the ability of a legged system to come to a stop without falling by taking N or fewer steps. We consider this ability to be crucial to legged locomotion and a useful, yet not overly restrictive criterion for stability. In this part (Part 1), we introduce a theoretical framework for asse...

Abstract. There is an increasing attention of exploiting compliant materials for the purpose of legged locomotion, because they provide significant advantages in locomotion performance with respect to energy efficiency and stability. Toward establishing a fundamental basis for this line of research, a minimalistic locomotion model of a single legged system is explored in this paper. By analyzin...