A Single-legged Robot Inspired by the Jumping Mechanism of Click Beetles and Its Hopping Dynamics Analysis
Sign Up to like & getrecommendations! Published in 2020 at "Journal of Bionic Engineering"
DOI: 10.1007/s42235-020-0099-z
Abstract: The click beetle can jump up with a hinge when it is on the dorsal side. This jumping mechanism is simple and suitable as an inspiration for designing a simple, small, and reliable hopping robot.… read more here.
Keywords: single legged; robot; legged robot; jumping mechanism ... See more keywords
A new concept of contact joint to model the geometric foot-environment contacts for efficiently determining possible stances for legged robots
Sign Up to like & getrecommendations! Published in 2021 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2021.104327
Abstract: Abstract The determination of stances is of vital importance for legged robots that work in challenging environments where the terrain may be composed of uneven and slippery surfaces. However, the exploitation of uneven and slippery… read more here.
Keywords: possible stances; legged robots; foot; contact joint ... See more keywords
Parallel structure of six wheel-legged robot trajectory tracking control with heavy payload under uncertain physical interaction
Sign Up to like & getrecommendations! Published in 2020 at "Assembly Automation"
DOI: 10.1108/aa-08-2019-0148
Abstract: This paper aims on the trajectory tracking of the developed six wheel-legged robot with heavy load conditions under uncertain physical interaction. The accuracy of trajectory tracking and stable operation with heavy load are the main… read more here.
Keywords: control; wheel legged; legged robot; six wheel ... See more keywords
Power and Control Autonomy for High-Speed Locomotion With an Insect-Scale Legged Robot
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2018.2793355
Abstract: We present a power and control autonomous, insect-scale legged robot the Harvard Ambulatory MicroRobot with RF communication (HAMR-F). At only 2.8 g and 4.5 cm in length, HAMR-F is capable of locomotion at speeds up to 17.2 cm/s… read more here.
Keywords: insect scale; legged robot; power; power control ... See more keywords
Dynamic Bilateral Teleoperation of the Cart-Pole: A Study Toward the Synchronization of Human Operator and Legged Robot
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2018.2852840
Abstract: This letter presents the experimental evaluation of a bilateral feedback law for the teleoperation of an underactuated dynamic system: the Cart-Pole. This physical system illustrates another simple model, the Linear Inverted Pendulum (LIP); a popular… read more here.
Keywords: human operator; cart pole; legged robot; teleoperation ... See more keywords
Walking Posture Adaptation for Legged Robot Navigation in Confined Spaces
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2019.2899664
Abstract: Legged robots have the ability to adapt their walking posture to navigate confined spaces due to their high degrees of freedom. However, this has not been exploited in most common multilegged platforms. This letter presents… read more here.
Keywords: confined spaces; posture adaptation; walking posture; legged robot ... See more keywords
Learning to Climb: Constrained Contextual Bayesian Optimisation on a Multi-Modal Legged Robot
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3192798
Abstract: Controlling a legged robot to climb obstacles with different heights is challenging, but important for an autonomous robot to work in an unstructured environment. In this paper, we model this problem as a novel contextual… read more here.
Keywords: legged robot; climb; optimisation; contextual bayesian ... See more keywords
Flexible Motion Framework of the Six Wheel-legged Robot: Experimental Results
Sign Up to like & getrecommendations! Published in 2021 at "IEEE/ASME Transactions on Mechatronics"
DOI: 10.1109/tmech.2021.3100879
Abstract: In complex real-world scenarios, wheel-legged robots with maneuverability, stability and reliability have addressed growing research attention, especially in material transportation, emergency rescue, as well as the exploration of unknown environments. How to achieve stable high-level… read more here.
Keywords: motion; flexible motion; wheel legged; legged robot ... See more keywords
Gait Planning Research for an Electrically Driven Large-Load-Ratio Six-Legged Robot
Sign Up to like & getrecommendations! Published in 2017 at "Applied Sciences"
DOI: 10.3390/app7030296
Abstract: Gait planning is an important basis for the walking of a legged robot. To improve the walking stability of multi-legged robots and to reduce the impact force between the foot and the ground, gait planning… read more here.
Keywords: gait planning; load ratio; large load; legged robot ... See more keywords
Controlling a One-Legged Robot to Clear Obstacles by Combining the SLIP Model with Air Trajectory Planning
Sign Up to like & getrecommendations! Published in 2023 at "Biomimetics"
DOI: 10.3390/biomimetics8010066
Abstract: Legged animals can adapt to complex terrains because they can step or jump over obstacles. Their application of foot force is determined according to the estimation of the height of an obstacle; then, the trajectory… read more here.
Keywords: legged robot; air; model; controlling one ... See more keywords
Upright and Crawling Locomotion and Its Transition for a Wheel-Legged Robot
Sign Up to like & getrecommendations! Published in 2022 at "Micromachines"
DOI: 10.3390/mi13081252
Abstract: To face the challenge of adapting to complex terrains and environments, we develop a novel wheel-legged robot that can switch motion modes to adapt to different environments. The robot can perform efficient and stable upright… read more here.
Keywords: locomotion; legged robot; motion; wheel legged ... See more keywords