10 accepted papers
Impulse-driven limbless robots offer a promising platform for locomotion in environments where body deformation or complex actuation is undesirable. Prior work has shown that symmetric designs can achieve net displacement through temporally asymmetric internal actuation, yet such systems often exhib
A control method is proposed for a tensegrity robot to generate legged-rolling locomotion (i.e., rolling movement produced by a legged system). The robot has a minimal structure composed only of two rods and four elastic cables. The difficulty of the control arises from the minimalistic structure th…
Quadrupedal locomotion involves coordinated interaction between limbs and torso, enabling them to achieve remarkable movement performance and adapt effectively to various environments. In previous studies, mathematical dynamic models of quadrupeds have been established to investigate the mechanisms
Quadrupeds exhibit remarkable locomotion performance through the coordination between their limbs and torso. From past biological knowledge, it is understood that during walking, the forelimbs primarily contribute to braking, while the hindlimb are responsible for propulsion. However, in the field o
A control method is proposed for a tensegrity robot to generate legged-rolling locomotion (<italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">i.e.</i>, rolling movement produced by a legged system). The robot has a minimal structure composed only of two
Locomotion is a fundamental capability that all mobile robots strive to achieve. A large variety of magnetic miniature robots have been proposed to leverage the magnetic forces and torques between internal magnetic agents and external magnetic fields to enable various locomotion on different terrain
In the natural world, benefited from the advantages of the spine, quadrupeds exhibiting extraordinary flexibility which allowing them to move efficiently on variable terrains. The previous researches have indicated the legged robots which efficiently utilizing their spine can achieve rapid and stabl…
The quadrupeds have wider active territory than humans. Their bodies can adapt various environments through evolution, enabling the efficient, elegant gait for their legged locomotion. Previous researches have indicated lots of examples of utilizing the advantages of body to achieve environment adap…
Magnetic miniature robots exert forces and torques onto the environment to conduct minimally invasive diagnostic and therapeutic tasks. The orders of magnitude of forces and torques determine what functionalities these robots can achieve. Although some studies have been dispersedly reported, the for
This paper proposes novel passive-dynamic walk-ers formed by two cross-shaped frames and eight viscoelastic elements. Since it is a combination of two four-legged rimless wheels via viscoelastic elements, we call it viscoelastically-combined rimless wheel (VCRW). Two types of VCRWs consisting of dif…