Related papers: Improved hopping control on slopes for small robot…

Spring-mass models are well established tools for the analysis and control of legged locomotion. Among the alternatives, spring-loaded inverted pendulum (SLIP) model has shown to be a very accurate descriptor of animal locomotion. Despite…

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…

Locomotion on granular slopes such as sand dunes remains a fundamental challenge for legged robots due to reduced shear strength and gravity-induced anisotropic yielding of granular media. Using a hexapedal robot on a tiltable granular bed,…

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…

Despite recent advances in robust locomotion, bipedal robots operating in the real world remain at risk of falling. While most research focuses on preventing such events, we instead concentrate on the phenomenon of falling itself.…

Legged locomotion on deformable terrain is a challenging and open robo-physics problem since the uncertainty in terrain dynamics introduced by ground deformation complicates the dynamical modelling and control methods. Moreover, learning…

This paper presents a model-based balance stabilization system which takes into account not only the stable part of COM dynamics but also the unstable part. In this system, the overall dynamics of a humanoid robot is approximated using a…

Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…

Wheeled bipedal robots are emerging as flexible platforms for field exploration. However, head instability induced by uneven terrain can degrade the accuracy of onboard sensors or damage fragile payloads. Existing research primarily focuses…

Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along sagittal direction, such as…

A deformable land-air robot is introduced with excellent driving and flying capabilities, offering a smooth switching mechanism between the two modes. An elaborate coupled dynamics model is established for the robot, including rotors,…

A robotic platform for mobile manipulation needs to satisfy two contradicting requirements for many real-world applications: A compact base is required to navigate through cluttered indoor environments, while the support needs to be large…

Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…

Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into trajectory tracking systems, potentially compromising the safety…

Autonomous landing on sloped terrain poses significant challenges for small, lightweight spacecraft, such as rotorcraft and landers. These vehicles have limited processing capability and payload capacity, which makes advanced deep learning…

Legged robot locomotion is hindered by a mismatch between applications where legs can outperform wheels or treads, most of which feature deformable substrates, and existing tools for planning and control, most of which assume flat, rigid…

Energy management is a fundamental challenge for legged robots in outdoor environments. Endurance directly constrains mission success, while efficient resource use reduces ecological impact. This paper investigates how terrain slope and…

The performances of braking control systems for robotic platforms, e.g., assisted and autonomous vehicles, airplanes and drones, are deeply influenced by the road-tire friction experienced during the maneuver. Therefore, the availability of…

Previous design methodologies for spring-driven jumping robots focused on jump height optimization for specific tasks. In doing so, numerous designs have been proposed including using nonlinear spring-linkages to increase the elastic energy…

Planetary bodies characterized by low gravitational acceleration, such as the Moon and near-Earth asteroids, impose unique locomotion constraints due to diminished contact forces and extended airborne intervals. Among traversal strategies,…