Related papers: OmniWheg: An Omnidirectional Wheel-Leg Transformab…
Combining off-the-shelf components with 3D-printing, the Wheelbot is a symmetric reaction wheel unicycle that can jump onto its wheels from any initial position. With non-holonomic and under-actuated dynamics, as well as two coupled…
Wheeled-legged robots combine the efficiency of wheels with the versatility of legs, but face significant energy optimization challenges when navigating diverse environments. In this work, we present a hierarchical control framework that…
Legged machines are becoming increasingly agile and adaptive but they have so far lacked the morphological diversity of legged animals, which have been rearranged and reshaped to fill millions of niches. Unlike their biological…
This paper presents a novel design of an Omnidirectional bendable Omnicrawler module- CObRaSO. Along with the longitudinal crawling and sideways rolling motion, the performance of the OmniCrawler is further enhanced by the introduction of…
Wheel-legged robots combine the advantages of both wheeled robots and legged robots, offering versatile locomotion capabilities with excellent stability on challenging terrains and high efficiency on flat surfaces. However, existing…
In recent years, the field of legged robotics has seen growing interest in enhancing the capabilities of these robots through the integration of articulated robotic arms. However, achieving successful loco-manipulation, especially involving…
Wheeled bipedal robots have garnered increasing attention in exploration and inspection. However, most research simplifies calculations by ignoring leg dynamics, thereby restricting the robot's full motion potential. Additionally, robots…
Faced with complex and unstructured construction environments, wheeled and tracked robots exhibit significant limitations in terrain adaptability and flexibility, making it difficult to meet the requirements of autonomous operation.…
Humanoids are versatile robotic platforms owing to their limbs with multiple degrees of freedom. Although humanoids can walk like humans, they are relatively slow, and cannot run over large barriers. To address these limitations, we aim to…
Multi-modal robots expand their operations from one working medium to another, land to air for example. The majorities of multi-modal robots mainly refer to platforms that operate in two different media. However, for all-terrain tasks,…
In field environments, numerous robots necessitate manual intervention for restoration of functionality post a turnover, resulting in diminished operational efficiency. This study presents an innovative design solution for a reversible…
While quadruped robots usually have good stability and load capacity, bipedal robots offer a higher level of flexibility / adaptability to different tasks and environments. A multi-modal legged robot can take the best of both worlds. In…
Legged robots have shown remarkable advantages in navigating uneven terrain. However, realizing effective locomotion and manipulation tasks on quadruped robots is still challenging. In addition, object and terrain parameters are generally…
Hybrid track/wheel-legged robots combine the advantages of wheel-based and leg-based locomotion, granting adaptability across varied terrains through efficient transitions between rolling and walking modes. However, automating these…
Most conventional wheeled robots can only move in flat environments and simply divide their planar workspaces into free spaces and obstacles. Deeming obstacles as non-traversable significantly limits wheeled robots' mobility in real-world,…
Multilegged robots have the ability to perform stable locomotion on relatively rough terrain. However, the complexity of legged robots over wheeled or tracked robots make them difficult to control. This paper presents OpenSHC (Open-source…
This work proposes a force control strategy with prescribed transient performance for the legs of a wheel-legged robotic system to realize the posture adjustment on uneven roads. A dynamic model of the robotic system is established with the…
Wheel-legged robots combine the efficiency of wheeled locomotion with the versatility of legged systems, enabling rapid traversal over both continuous and discrete terrains. However, conventional designs typically employ fixed wheels as…
Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…
As a single-track mobile platform, bikebot (i.e., bicycle-based robot) has attractive navigation capability to pass through narrow, off-road terrain with high-speed and high-energy efficiency. However, running crossing step-like obstacles…