Related papers: The Robot of Theseus: A modular robotic testbed fo…
In this paper, we present a complete description of the hardware design and control architecture of our custom built quadruped robot, called the `Stoch'. Our goal is to realize a robust, modular, and a reliable quadrupedal platform, using…
We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor and a low-gear-ratio transmission suitable for impedance and…
In both animals and robots, locomotion capabilities are determined by the physical structure of the system. The majority of legged animals and robots are bilaterally symmetric, which facilitates locomotion with consistent headings and…
In this paper, we present STRIDE, a Simple, Terrestrial, Reconfigurable, Intelligent, Dynamic, and Educational bipedal platform. STRIDE aims to propel bipedal robotics research and education by providing a cost-effective implementation with…
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…
SLOT (Soft Legged Omnidirectional Tetrapod), a tendon-driven soft quadruped robot with 3D-printed TPU legs, is presented to study physics-informed modeling and control of compliant legged locomotion using only four actuators. Each leg is…
This paper introduces a chain-driven, sandwich-legged mid-size quadruped robot designed as an accessible research platform. The design prioritizes enhanced locomotion, improved actuation reliability and safety, and simplified,…
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…
Developing real robotic systems requires a tight integration of mechanics, electronics and software. Most of the times, existing robotic platforms are either closed or expensive or both, and in-house solutions are costly to develop and…
Legged rovers provide enhanced mobility compared to wheeled platforms, enabling navigation on steep and irregular planetary terrains. However, traditional legged locomotion might be energetically inefficient and potentially dangerous to the…
Quadruped robots are usually equipped with additional arms for manipulation, negatively impacting price and weight. On the other hand, the requirements of legged locomotion mean that the legs of such robots often possess the needed torque…
While most insect-inspired robots come with a simple tarsus such as a hemispherical foot tip, insect legs have complex tarsal structures and claws, which enable them to walk on complex terrain. Their sharp claws can smoothly attach and…
Recent advancements in legged locomotion research have made legged robots a preferred choice for navigating challenging terrains when compared to their wheeled counterparts. This paper presents a novel locomotion policy, trained using Deep…
We present Stanford Pupper, an easily-replicated open source quadruped robot designed specifically as a benchmark platform for legged robotics research. The robot features torque-controllable brushless motors with high specific power that…
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…
If robots are to become ubiquitous, they will need to be able to adapt to complex and dynamic environments. Robots that can adapt their bodies while deployed might be flexible and robust enough to meet this challenge. Previous work on…
The use of standard robotic platforms can accelerate research and lower the entry barrier for new research groups. There exist many affordable humanoid standard platforms in the lower size ranges of up to 60cm, but larger humanoid robots…
Currently, commercially available intelligent transport robots that are capable of carrying up to 90kg of load can cost \$5,000 or even more. This makes real-world experimentation prohibitively expensive and limits the applicability of such…
The use of standard platforms in the field of humanoid robotics can accelerate research, and lower the entry barrier for new research groups. While many affordable humanoid standard platforms exist in the lower size ranges of up to 60cm,…
We present Oncilla robot, a novel mobile, quadruped legged locomotion machine. This large-cat sized, 5.1 robot is one of a kind of a recent, bioinspired legged robot class designed with the capability of model-free locomotion control.…