Foot bionic robot could be supported and towed through a series of discrete footholds adapted to rugged terrain attitude adjustment. The vibration isolation the decouple fuselage from foot-end trajectories, thus, walked smoothly even if in significant terrain. gait programming foot end trajectory algorithm were simulated. quadruped parallel five linkages with eight degrees freedom tested. kinem...

There is so far no quadruped robot that exhibits locomotion performance matching to that shown by animals every day. Both differences in general design concepts, in available materials and actuation mechanisms as well as a lack of understanding on the control of the robots’ actuators contribute to the current performance gap between robotic platforms and their biological counterparts. While for...

The problem of walking simulation for the quadruped search robot on a slope is described as an uncertainty system. In order to create the virtual ramp road environment, VRMLmodeling language is used to build a real environment, which is a 3D terrain scene in Matlab platform. According to the VRML model structure of the quadruped search robot, a guaranteed cost nonfragile robust controller is de...

We present an automated approach to robot and locomotion-controller design optimization, using reinforcement learning methods that have been successfully demonstrated to teach a real prototype quadruped various walking gaits. The same machine learning methods are used here for a different purpose: to optimize robot and locomotion-controller design. Optimization can be used before or after build...

Most human infants, before standing and walking on two feet, locomote on their four limbs. They can use a wide variety of locomotor patterns, but the most widespread one is alternated locomotion on hands and knees. Despite being the first locomotor pattern of humans, there are almost no quantitative information available on infants crawling. Since infants crawl only for a short time period of t...

This paper presents the application of two nonlinear observers in order to estimate the absolute orientation angle of a quadruped walking robot. The designed observers are based on high gain and high order sliding mode approaches. A loss of observability during the robot step appears: this problem is dealed by using two different observers structures.