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Purpose-This paper is based on design of a quadruped robot and manufacturing it with 3-D printer followed by its detailed analysis. It focuses on the advantages of additive manufacturing rather than conventional manufacturing techniques and…
We developed a new class of soft locomotive robots that can self-assemble into a preprogrammed configuration and vary their stiffness afterward in a highly integrated, compact body using contracting-cord particle jamming (CCPJ). We…
This paper presents a method for achieving high-speed running of a quadruped robot by considering the actuator torque-speed operating region in reinforcement learning. The physical properties and constraints of the actuator are included in…
Flapping wings are a bio-inspired method to produce lift and thrust in aerial robots, leading to quiet and efficient motion. The advantages of this technology are safety and maneuverability, and physical interaction with the environment,…
Recent advances in learned control, large-scale simulation, and generative models have accelerated progress toward general-purpose robotic controllers, yet the field still lacks platforms suitable for safe, expressive, long-term deployment…
We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and…
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…
In this paper, with a view toward fast deployment of locomotion gaits in low-cost hardware, we use a linear policy for realizing end-foot trajectories in the quadruped robot, Stoch $2$. In particular, the parameters of the end-foot…
Generating dynamic jumping motions on legged robots remains a challenging control problem as the full flight phase and large landing impact are expected. Compared to quadrupedal robots or other multi-legged robots, bipedal robots place…
This paper presents SCALER, a versatile free-climbing multi-limbed robot that is designed to achieve tightly coupled simultaneous locomotion and dexterous grasping. While existing quadrupedal-limbed robots have demonstrated impressive…
An intuitive control method for the flying trot, which combines offline trajectory planning with real-time balance control, is presented. The motion features of running animals in the vertical direction were analysed using the…
The request for fast response and safe operation after natural and man-made disasters in urban environments has spurred the development of robotic systems designed to assist in search and rescue operations within complex rubble sites.…
Gravitational forces can induce deviations in body posture from desired configurations in multi-legged arboreal robot locomotion with low leg stiffness, affecting the contact angle between the swing leg's end-effector and the climbing…
Soft robots have drawn significant attention recently for their ability to achieve rich shapes when interacting with complex environments. However, their elasticity and flexibility compared to rigid robots also pose significant challenges…
The biological spine of quadrupeds enables sagittal flexion/extension, lateral bending, and axial rotation, playing a crucial role in highly agile and dexterous locomotion. While numerous studies have integrated active spinal joints into…
This paper introduces Bruce, the CSIRO Dynamic Hexapod Robot capable of autonomous, dynamic locomotion over difficult terrain. This robot is built around Apptronik linear series elastic actuators, and went from design to deployment in under…
ReachBot, a proposed robotic platform, employs extendable booms as limbs for mobility in challenging environments, such as martian caves. When attached to the environment, ReachBot acts as a parallel robot, with reconfiguration driven by…
Wheeled-legged robots, which have wheels at their feet and achieve high mobility by coordinating wheel drive and leg drive, have been developed. These robots have been developed purely as platforms specialized for locomotion. Therefore,…
Nowadays, design and development of legged quadruped robots is a quite active area of scientific research. In fact, the legged robots have become popular due to their capabilities to adapt to harsh terrains and diverse environmental…
Unlike their biological cousins, the majority of existing quadrupedal robots are constructed with rigid chassis. This results in motion that is either beetle-like or distinctly robotic, lacking the natural fluidity characteristic of…