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Spring-driven jumping robots use an energised spring for propulsion, while the onboard motor only serves as a spring-charging source. A common mechanism in designing these robots is the rhomboidal linkage, which has been combined with…
It is often overlooked by roboticists when designing locomotion controllers for their legged machines, that energy consumption plays an important role in selecting the best gaits for locomotion at high speeds or over long distances. The…
Robotic Hopping is challenging from the perspective of both modeling the dynamics as well as the mechanical design due to the short period of ground contact in which to actuate on the world. Previous work has demonstrated stable hopping on…
The energy use of a robot is trajectory-dependent, and thus can be reduced by optimization of the trajectory. Current methods for robot trajectory optimization can reduce energy up to 15\% for fixed start and end points, however their use…
Energy consumption optimization of a two-link planar robotic arm is considered with the system's efficiency being the target for optimization. A new formulation of thermodynamic principles within the framework of dynamical systems is used.…
In legged locomotion, the relationship between different gait behaviors and energy consumption must consider the full-body dynamics and the robot control as a whole, which cannot be captured by simple models. This work studies the robot…
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 often designed with rigid feet to simplify control and maintain stable contact during locomotion. While this approach is straightforward, it limits the ability of the legs to absorb impact forces and reuse stored…
This paper is dedicated to the development of a novel adaptive torsion spring mechanism for optimizing energy consumption in legged robots. By adjusting the equilibrium position and stiffness of the spring, the system improves energy…
Compliant robotics have seen successful applications in energy efficient locomotion and cyclic manipulation. However, exploitation of variable physical impedance for energy efficient sequential movements has not been extensively addressed.…
Legged robots offer several advantages when navigating unstructured environments, but they often fall short of the efficiency achieved by wheeled robots. One promising strategy to improve their energy economy is to leverage their natural…
Energy efficiency is a critical factor in the performance and autonomy of quadrupedal robots. While previous research has focused on mechanical design and actuation improvements, the impact of gait parameters on energetics has been less…
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…
Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On…
Galloping is a common high-speed gait in both animals and quadrupedal robots, yet its energetic characteristics remain insufficiently explored. This study systematically analyzes a large number of possible galloping gaits by categorizing…
Jumping and hopping locomotion are efficient means of traversing unstructured rugged terrain with the former being the focus of roboticists; a focus that has recently been changing. This focus has led to significant performance and…
This paper presents a novel methodology to model and optimize trajectories of a quadrupedal robot with spinal compliance to improve standing jump performance compared to quadrupeds with a rigid spine. We introduce an elastic model for a…
Taking inspiration from the natural gait transition mechanism of quadrupeds, devising a good gait transition strategy is important for quadruped robots to achieve energy-efficient locomotion on various terrains and velocities. While…
Miniaturization and cost, two of the main attractive factors of swarm robotics, have motivated its use as a solution in object collecting tasks, search & rescue missions, and other applications. However, in the current literature only a few…
In the fields of robotics and biomechanics, the integration of elastic elements such as springs and tendons in legged systems has long been recognized for enabling energy-efficient locomotion. Yet, a significant challenge persists:…