相关论文: Optimizing energy consumption for legged robot by …

Quadruped robots are often designed with rigid feet to simplify control and maintain stable contact during locomotion. While this approach is straightforward, it limits the ability of the legs to absorb impact forces and reuse stored…

Legged locomotion is commonly studied and expressed as a discrete set of gait patterns, like walk, trot, gallop, which are usually treated as given and pre-programmed in legged robots for efficient locomotion at different speeds. However,…

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…

Legged robots offer several advantages when navigating unstructured environments, but they often fall short of the efficiency achieved by wheeled robots. One promising strategy to improve their energy economy is to leverage their natural…

We propose an online motion planner for legged robot locomotion with the primary objective of achieving energy efficiency. The conceptual idea is to leverage a placement set of footstep positions based on the robot's body position to…

Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…

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…

In the fields of robotics and biomechanics, the integration of elastic elements such as springs and tendons in legged systems has long been recognized for enabling energy-efficient locomotion. Yet, a significant challenge persists:…

Parallel-elastic joints can improve the efficiency and strength of robots by assisting the actuators with additional torques. For these benefits to be realized, a spring needs to be carefully designed. However, designing robots is an…

This paper presents a novel methodology to model and optimize trajectories of a quadrupedal robot with spinal compliance to improve standing jump performance compared to quadrupeds with a rigid spine. We introduce an elastic model for a…

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…

In legged locomotion, the relationship between different gait behaviors and energy consumption must consider the full-body dynamics and the robot control as a whole, which cannot be captured by simple models. This work studies the robot…

Legged robots are promising candidates for exploring challenging areas on low-gravity bodies such as the Moon, Mars, or asteroids, thanks to their advanced mobility on unstructured terrain. However, as planetary robots' power and thermal…

Animals can finely modulate their leg stiffness to interact with complex terrains and absorb sudden shocks. In feats like leaping and sprinting, animals demonstrate a sophisticated interplay of opposing muscle pairs that actively modulate…

In reinforcement learning for legged robot locomotion, crafting effective reward strategies is crucial. Pre-defined gait patterns and complex reward systems are widely used to stabilize policy training. Drawing from the natural locomotion…

With the rapid development of the construction industry, issues such as harsh working environments, high-intensity and high-risk tasks, and labor shortages have become increasingly prominent. This drives higher demands for construction…

Compliant robotics have seen successful applications in energy efficient locomotion and cyclic manipulation. However, exploitation of variable physical impedance for energy efficient sequential movements has not been extensively addressed.…

Energy efficiency and motion smoothness are essential in trajectory planning for high-degree-of-freedom robots to ensure optimal performance and reduce mechanical wear. This paper presents a novel framework integrating sinusoidal trajectory…

Spring-driven jumping robots use an energised spring for propulsion, while the onboard motor only serves as a spring-charging source. A common mechanism in designing these robots is the rhomboidal linkage, which has been combined with…

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…