相关论文: Control of a Hexapod Robot Considering Terrain Int…

Snakes can bend their elongate bodies in various forms to traverse various environments. We understand how snakes use lateral bending to push against asperities on flat ground for propulsion, and snake robots can do so effectively. However,…

Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence and sensorimotor skills through these robotic counterparts.…

Terrain adaptation is an essential capability for a ground robot to effectively traverse unstructured off-road terrain in real-world field environments such as forests. However, the expected robot behaviors generated by terrain adaptation…

Robotics would gain by replicating the remarkable agility of arthropods in navigating complex environments. Here we consider the control of multi-legged systems which have 6 or more legs. Current multi-legged control strategies in robots…

To enable humanoid robots to work robustly in confined environments, multi-contact motion that makes contacts not only at extremities, such as hands and feet, but also at intermediate areas of the limbs, such as knees and elbows, is…

Hexapod robots are potentially suitable for carrying out tasks in cluttered environments since they are stable, compact, and light weight. They also have multi-joint legs and variable height bodies that make them good candidates for tasks…

Optimizing gait stability for legged robots is a difficult problem. Even on level surfaces, effectively traversing across different textures (e.g., carpet) rests on dynamically tuning parameters in multidimensional space. Inspired by…

Amphibious legged robots inspired by salamanders are promising in applications in complex amphibious environments. However, despite the significant success of training controllers that achieve diverse locomotion behaviors in conventional…

Bipedal running is a difficult task to realize in robots, since the trunk is underactuated and control is limited by intermittent ground contacts. Stabilizing the trunk becomes even more challenging if the terrain is uneven and causes…

The remarkable athletic intelligence displayed by humans in complex dynamic movements such as dancing and gymnastics suggests that the balance mechanism in biological beings is decoupled from specific movement patterns. This decoupling…

This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed…

This paper presents the design, development and testing of GiAnt, an affordable hexapod which is inspired by the efficient motions of ants. The decision to model GiAnt after ants rather than other insects is rooted in ants' natural…

Towards the role of humanoid robots as squad mates in urban operations and other domains, we identified doors as a major area lacking capability development. In this paper, we focus on the ability of humanoid robots to navigate and deal…

Forthcoming applications concerning humanoid robots may involve physical interaction between the robot and a dynamic environment. In such scenario, classical balancing and walking controllers that neglect the environment dynamics may not be…

Biped robots have plenty of benefits over wheeled, quadruped, or hexapod robots due to their ability to behave like human beings in tough and non-flat environments. Deformable terrain is another challenge for biped robots as it has to deal…

Inspired by biological motion generation, central pattern generators (CPGs) is frequently employed in legged robot locomotion control to produce natural gait pattern with low-dimensional control signals. However, the limited adaptability…

This paper presents a gait controller for bipedal robots to achieve highly agile walking over various terrains given local slope and friction cone information. Without these considerations, untimely impacts can cause a robot to trip and…

Multi-legged robots with six or more legs are not in common use, despite designs with superior stability, maneuverability, and a low number of actuators being available for over 20 years. This may be in part due to the difficulty in…

Robots that traverse natural terrain must interpret contact forces generated under highly dynamic conditions. However, most terrain characterization approaches rely on quasi-static assumptions that neglect velocity- and…

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,…