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   Articles with "legged robot" as a keyword



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A Single-legged Robot Inspired by the Jumping Mechanism of Click Beetles and Its Hopping Dynamics Analysis

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recommendations! 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
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A new concept of contact joint to model the geometric foot-environment contacts for efficiently determining possible stances for legged robots

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recommendations! 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

System design and control of the sphere-wheel-legged robot

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recommendations! Published in 2024 at "Robotica"

DOI: 10.1017/s0263574724001401

Abstract: Abstract The two-wheeled legged robot combines the advantages of legged robot and wheeled robot and has high terrain adaptability. Spherical robots are highly resistant to interference during detection. In this paper, a new sphere-wheel-legged robot… read more here.

Keywords: motion; legged robot; sphere wheel; wheel legged ... See more keywords
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Parallel structure of six wheel-legged robot trajectory tracking control with heavy payload under uncertain physical interaction

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recommendations! 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

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recommendations! 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

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recommendations! 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

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recommendations! 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

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recommendations! 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

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recommendations! 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

Tensegrity-Based Legged Robot Generates Passive Walking, Skipping, and Crawling Gaits in Accordance With Environment

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recommendations! Published in 2025 at "IEEE/ASME Transactions on Mechatronics"

DOI: 10.1109/tmech.2024.3522904

Abstract: Legged locomotion animals produce various gaits, e.g., skipping, walking, running, and crawling, depending upon the environmental situation. Such an autonomous selection of distinct gait patterns is highly advantageous for energy efficiency, stress minimization, and postural… read more here.

Keywords: robot generates; tensegrity; based legged; legged robot ... See more keywords

Invariant Smoother for Legged Robot State Estimation With Dynamic Contact Event Information

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recommendations! Published in 2024 at "IEEE Transactions on Robotics"

DOI: 10.1109/tro.2023.3328202

Abstract: This article proposes an invariant smoother for legged robot state estimation with the measurement of an inertial measurement unit and leg kinematics while assuming static foot contact. Because the proposed smoother is formulated with the… read more here.

Keywords: dynamic contact; legged robot; invariant smoother; state ... See more keywords