Trot Gait with Twisting Trunk of a Metamorphic Quadruped Robot
Sign Up to like & getrecommendations! Published in 2018 at "Journal of Bionic Engineering"
DOI: 10.1007/s42235-018-0085-x
Abstract: This paper proposes a metamorphic quadruped robot with a moveable trunk, called Origaker I. From the angle view of bionics, the robot can imitate the natural quadrupeds to twist its trunk. As we all know,… read more here.
Keywords: twisting trunk; quadruped robot; trunk; gait twisting ... See more keywords
Balance control based on six-dimensional spatial mechanics and velocity adjustment through region intervention and foot landing for quadruped robot
Sign Up to like & getrecommendations! Published in 2022 at "Robotica"
DOI: 10.1017/s0263574721001995
Abstract: Abstract Currently, the body balance control algorithm of a quadruped robot executing trot gait motion is more complex and computationally intensive, which is not conducive to improving the real-time control performance of the robot. This… read more here.
Keywords: mechanics; control; balance control; quadruped robot ... See more keywords
Dynamic modeling and simulation of a torque-controlled spatial quadruped robot
Sign Up to like & getrecommendations! Published in 2024 at "Robotica"
DOI: 10.1017/s0263574724001097
Abstract: Abstract Evolution has shown that legged locomotion is most adequate for tasks requiring versatile movement on land, allowing animals to traverse a wide variety of environments ranging from natural terrain to artificial, man-made landscapes with… read more here.
Keywords: dynamic modeling; quadruped robot; simulator; modeling simulation ... See more keywords
Path Planning Based on ADFA* Algorithm for Quadruped Robot
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Access"
DOI: 10.1109/access.2019.2920420
Abstract: At present, the path-planning algorithm based on the grid map is generally adopted in the field of quadruped robot and the obtained environmental information is represented by a standardized grid map. In this paper, the… read more here.
Keywords: time; path; path planning; quadruped robot ... See more keywords
Active Compliance Control on the Hydraulic Quadruped Robot With Passive Compliant Servo Actuator
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Access"
DOI: 10.1109/access.2019.2951830
Abstract: A hydraulic servo actuator with passive compliance (HPCA) is designed for hydraulic actuated quadruped robots, aiming to solve the response discrepancy of the low-bandwidth servo valve to impact forces between robot’s feet and the ground.… read more here.
Keywords: control; compliance; compliance control; servo ... See more keywords
Proximal Actuation of an Elastically Loaded Scissors Mechanism for the Leg Design of a Quadruped Robot
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Access"
DOI: 10.1109/access.2020.3037250
Abstract: Spring Loaded Pantographs (SLPs) are frequently used in designing lightweight limbs for multi-legged robots. Quadruped robots that incorporate cable-pulled SLP legs have proven to be agile, robust and capable of conserving energy during their gait… read more here.
Keywords: scissors mechanism; loaded scissors; mechanism; elastically loaded ... See more keywords
Proprioceptive-Based Multimode State Estimation for Wheeled-Quadruped Robot
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Sensors Journal"
DOI: 10.1109/jsen.2025.3576923
Abstract: This article presents a novel multimode proprioceptive state estimation framework integrated with motor encoders and an inertial measurement unit (IMU) for wheeled-quadruped robot operating over long distances. The standard assumption of using nonslipping stance legs… read more here.
Keywords: quadruped robot; wheeled quadruped; estimation; contact ... See more keywords
ALPHRED: A Multi-Modal Operations Quadruped Robot for Package Delivery Applications
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2020.3007482
Abstract: Modern quadruped robots are more capable than ever before at performing robust, dynamic locomotion over a variety of terrains, but are still mostly used as mobile inspection platforms. This paper presents ALPHRED version 2, a… read more here.
Keywords: multi modal; manipulation; alphred multi; operations quadruped ... See more keywords
Quadruped Robot Calf Joint Actuator Molding and Design Based on Dynamic Similarity Hypothesis
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Transactions on Industry Applications"
DOI: 10.1109/tia.2025.3532577
Abstract: The effectiveness of a quadruped robot's speed and stability heavily relies on its calf joint actuator. Conventional approaches are no longer viable for designing calf joint actuators, given their operation in multiple modes. Crafting a… read more here.
Keywords: quadruped robot; methodology; calf joint; joint actuator ... See more keywords
Development of a Quadruped Robot System With Torque-Controllable Modular Actuator Unit
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2020.3007084
Abstract: This article presents an overview of Artificial DIgitigrade for Natural Environments (AiDIN-VI), a force-controllable quadruped robot system with incorporated mandatory abilities of speed, efficiency, and mobility for providing real-world services. This article describes the design… read more here.
Keywords: robot system; torque; robot; torque controllable ... See more keywords
Towards rich motion skills with the lightweight quadruped robot Serval
Sign Up to like & getrecommendations! Published in 2020 at "Adaptive Behavior"
DOI: 10.1177/1059712319853227
Abstract: Bio-inspired robotic designs introducing and benefiting from morphological aspects present in animals allowed the generation of fast, robust, and energy-efficient locomotion. We used engineering tools and interdisciplinary knowledge transferred from biology to build low-cost robots,… read more here.
Keywords: motion; serval; rich motion; quadruped robot ... See more keywords