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Terrestrial animals and robots are susceptible to flipping-over during rapid locomotion in complex terrains. However, small robots are less capable of self-righting from an upside-down orientation compared to small animals like insects.…

Animals and robots must self-right on the ground after overturning. Biology research described various strategies and motor patterns in many species. Robotics research devised many strategies. However, we do not well understand how the…

Terrestrial animals often must self-right from an upside-down orientation on the ground to survive. Here, we compared self-righting strategies of the Madagascar hissing, American, and discoid cockroaches on a challenging flat, rigid,…

Randomness is common in biological and artificial systems, resulting either from stochasticity of the environment or noise in organisms or devices themselves. In locomotor control, randomness is typically considered a nuisance. For example,…

Despite contending with constraints imposed by the environment, morphology, and physiology, animals move well by physically interactingwith the environment to use and transition between modes such as running, climbing, and self-righting. By…

To traverse complex natural terrain, animals often transition between locomotor modes. It is well known that locomotor transitions can be induced by switching in neural control circuits or be driven by a need to minimize metabolic energetic…

Hybrid aerial--ground robots offer both traversability and endurance, but stair-like discontinuities create a trade-off: wheels alone often stall at edges, while flight is energy-hungry for small height gains. We propose an energy-aware…

It is well known that animals can use neural and sensory feedback via vision, tactile sensing, and echolocation to negotiate obstacles. Similarly, most robots use deliberate or reactive planning to avoid obstacles, which relies on prior…

Centipede-like robots offer unique locomotion advantages due to their small cross-sectional area for accessing confined spaces, and their redundant legs enhance robustness in cluttered environments such as search-and-rescue and pipe…

Robots excel at avoiding obstacles but struggle to traverse complex 3-D terrain with cluttered large obstacles. By contrast, insects like cockroaches excel at doing so. Recent research in our lab elucidated how locomotor transitions emerge…

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…

Robots still struggle to dynamically traverse complex 3-D terrain with many large obstacles, an ability required for many critical applications. Body-obstacle interaction is often inevitable and induces perturbation and uncertainty in…

Tails used as inertial appendages induce body rotations of animals and robots, a phenomenon that is governed largely by the ratio of the body and tail moments of inertia. However, vertebrate tails have more degrees of freedom (e.g., number…

Legged robots leverage ground contacts and the reaction forces they provide to achieve agile locomotion. However, uncertainty coupled with contact discontinuities can lead to failure, especially in real-world environments with unexpected…

Many animals, modern aircraft, and underwater vehicles use streamlined body shapes that reduce fluid dynamic drag to achieve fast and effective locomotion in air and water. Similarly, numerous small terrestrial animals move through…

Bipedal animals have diverse morphologies and advanced locomotion abilities. Terrestrial birds, in particular, display agile, efficient, and robust running motion, in which they exploit the interplay between the body segment masses and…

Hybrid track/wheel-legged robots combine the advantages of wheel-based and leg-based locomotion, granting adaptability across varied terrains through efficient transitions between rolling and walking modes. However, automating these…

Achieving versatile and explosive motion with robustness against dynamic uncertainties is a challenging task. Introducing parallel compliance in quadrupedal design is deemed to enhance locomotion performance, which, however, makes the…

Hybrid locomotion of wheeled-legged robots has recently attracted increasing attention due to their advantages of combining the agility of legged locomotion and the efficiency of wheeled motion. But along with expanded performance, the…

Robot multimodal locomotion encompasses the ability to transition between walking and flying, representing a significant challenge in robotics. This work presents an approach that enables automatic smooth transitions between legged and…