3 accepted papers
We present the design and implementation of HASTA (Hopper with Adjustable Stiffness for Terrain Adaption), a vertical hopping robot with real-time tunable leg stiffness, aimed at optimizing energy efficiency across various ground profiles (a pair of ground stiffness and damping conditions). By adjus
We present an approach to overcoming challenges in dynamical dexterity for robots through programmably compliant origami mechanisms. Our work leverages a one-parameter family of flat sheet crease patterns that folds into origami bellows, whose axial compliance can be tuned to select desired stiffnes
We report on the model-based approach to dynamic trotting and pronking gait generation for a leg-wheel transformable robot. The rolling spring-loaded inverted pendulum (R-SLIP) model served as the template for robot locomotion by programming the robot's motion according to the stable fixed-point tra…