This research realizes and analyze Multi-legged Passive Dynamic Walking(PDW). Although various PDW studies have been conducted based on its interesting features, most of them dealt with bipedal robots. There are many kinds of multi-legged creatures, not only quadrupedal animals but also creatures with more than six legs. In this paper, we focus on a “Multi-legged PDW,” which is a PDW with more ...

Walking animals produce adaptive interlimb coordination during locomotion in accordance with their situation. Interlimb coordination is generated through the dynamic interactions of the neural system, the musculoskeletal system, and the environment, although the underlying mechanisms remain unclear. Recently, investigations of the adaptation mechanisms of living beings have attracted attention,...

The spring-loaded inverted pendulum (SLIP) is a simple, passivelyelastic two-degree-of-freedom model for legged locomotion that describes the center-of-mass dynamics of many animal species and some legged robots. Conventionally, SLIP models employ a single support leg during stance and, while they can exhibit stable steady gaits when motions are confined to the sagittal plane, threedimensional ...

1. Motivation Legged robots will need to be fast, robust and efficient for real world applications. In this research, we aim to design a high speed bipedal running robot on 3D environments based on active tail stabilization method, Raptor 2 robot. 2. State of the Art Many legged robots have been studied and developed so far, but only a few robots have achieved stable fast legged locomotion. In ...

The paper discusses the state-of-the-art of locomotion systems for ground mobile robots comprising tracks. Tracked locomotion, due to large contact surface with ground, is particularly suitable tackling soft, yielding, and irregular terrains, but characterized by lower speed energy efficiency than wheeled obstacle-climbing capability legged locomotion. Therefore, in recent years academic indust...

Bora Banjanin Samuel A. Burden The phenomenon of legged locomotion arises from the intermittent interplay of musculoskeletal or mechatronic limbs with adjoining terrain. Since limb dynamics and terrain mechanics are generally high– dimensional and nonlinear, locomotion appears too complex to model from first principles. Fortunately, there is mounting evidence, both theoretical [4] and experimen...

Legged locomotion is used by biological systems since millions of years, but wheeled locomotion vehicles are so familiar in our modern life, that people have developed a sort of dependence on this form of locomotion and transportation. However, wheeled vehicles require paved surfaces, which are obtained through a suitable modification of the natural environment. Thus, walking machines are more ...

A self-adaptive Pareto Evolutionary Multiobjective Optimization (EMO) algorithm based on differential evolution is proposed for evolving locomotion controllers in an artificially embodied legged creature. The objective of this paper is to demonstrate the trade-off between quality of solutions and computational cost. We show empirically that evolving controllers using the proposed algorithm incu...

Gaining high mobility on versatile terrains is a crucial target for designing a mobile robot toward tasks such as search and rescue, scientific exploration, and environment monitoring. Inspired by dextrous limb motion of animals, a novel form of locomotion has been established in our previous study, by proposing an eccentric paddle mechanism (ePaddle) for integrating paddling motion into a trad...

Performing autonomous navigation in cluttered and unstructured terrains still remains a challenging task for legged wheeled mobile robots. To accomplish such task, online planners shall incorporate new terrain information perceived while the robot is moving within its environment. While hybrid mobility robots offer high flexibility traversing by leveraging advantages of both locomotion, effecti...