Related papers: Elastic energy storage of spring-driven jumping ro…
While the animals' Fin-to-Limb evolution has been well-researched in biology, such morphological transformation remains under-adopted in the modern design of advanced robotic limbs. This paper investigates a novel class of overconstrained…
Although recent years have seen significant progress of humanoid robots in walking and running, the frequent foot strikes with ground during these locomotion gaits inevitably generate high instantaneous impact forces, which leads to…
Legged systems have many advantages when compared to their wheeled counterparts. For example, they can more easily navigate extreme, uneven terrain. However, there are disadvantages as well, particularly the difficulty seen in modeling the…
Legged locomotion in humans is governed by natural dynamics of the human body and neural control. One mechanism that is assumed to contribute to the high efficiency of human walking is the impulsive ankle push-off, which potentially powers…
Embodiment is a significant keyword in recent machine learning fields. This study focused on the passive nature of the body of a biped robot to generate walking and running locomotion using model-based deep reinforcement learning. We…
This paper introduces a way to systematically investigate the effect of compliant prismatic spines in quadrupedal robot locomotion. We develop a novel spring-loaded lockable spine module, together with a new Spinal Compliance-Integrated…
A folded chain, with one end fixed at the ceiling and the other end released from the same elevation, is commonly modeled as an energy-conserving system in one-dimension. However, the analytical paradigms in previous literature is…
We study vertical jumping in a simple robot comprising an actuated mass-spring arrangement. The actuator frequency and phase are systematically varied to find optimal performance. Optimal jumps occur above and below (but not at) the robot's…
Quadruped robots are proliferating in industrial environments where they carry sensor payloads and serve as autonomous inspection platforms. Despite the advantages of legged robots over their wheeled counterparts on rough and uneven…
We have developed a parallel wire-driven monopedal robot, RAMIEL, which has both speed and power due to the parallel wire mechanism and a long acceleration distance. RAMIEL is capable of jumping high and continuously, and so has high…
We propose a link prediction algorithm that is based on spring-electrical models. The idea to study these models came from the fact that spring-electrical models have been successfully used for networks visualization. A good network…
Legged robots must achieve both robust locomotion and energy efficiency to be practical in real-world environments. Yet controllers trained in simulation often fail to transfer reliably, and most existing approaches neglect…
This study proposes a reinforcement learning-based adaptive running motion simulation for a unilateral transtibial amputee with the flexibility of a leaf-spring-type sports prosthesis using hybrid-link system. The design and selection of…
Aerobat is a bat-inspired flapping-wing robot with a wing gait generate by the computational structure, a planar linkage of carbon fiber links driven by a single motor. This design minimizes weight but couples both wings to a shared input…
Quadrupedal wheeled-legged robots combine the advantages of legged and wheeled locomotion to achieve superior mobility, but executing dynamic jumps remains a significant challenge due to the additional degrees of freedom introduced by…
Enabling robots to walk and run on yielding terrain is increasingly vital to endeavors ranging from disaster response to extraterrestrial exploration. While dynamic legged locomotion on rigid ground is challenging enough, yielding terrain…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…
This paper develops an analytic framework to design both stress-controlled and displacement-controlled T-periodic loadings which make the quasistatic evolution of a one-dimensional network of elastoplastic springs converging to a unique…
Materials that respond to external stimuli by expanding or contracting provide a transduction route that integrates sensing and actuation powered directly by the stimuli. This motivates us to build colloidal scale robots using these…
Flying insects are thought to achieve energy-efficient flapping flight by storing and releasing elastic energy in their muscles, tendons, and thorax. However, flight systems consisting elastic elements coupled to nonlinear, unsteady…