10 accepted papers
Galloping is a common high-speed gait in both animals and quadrupedal robots, yet its energetic characteristics remain insufficiently explored. This study systematically analyzes a large number of possible galloping gaits by categorizing them based on the number of flight phases per stride and the p
Modular robotics offers a promising approach for developing versatile and adaptive robotic systems capable of autonomous reconfiguration. This paper presents a novel modular robotic system in which each module is equipped with independent actuation, battery power, and control, enabling both individu
Symmetry manifests itself in legged locomotion in a variety of ways: A legged system can maintain consistent gaits from any spatial starting point, exhibiting the same leg movements on either side of the torso in phase, and some even demonstrate forward and backward movements so similar they seem to
Symmetrical gaits, such as trotting, are commonly employed in quadrupedal robots for their simplicity and stability. However, the potential of asymmetrical gaits, such as bounding and galloping–which are prevalent in their natural counterparts at high speeds or over long distances–is less clear in t
This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed posture, minimizing natural body movements to simplify the control…
Online control design using a high-fidelity, full-order model for a bipedal robot can be challenging due to the size of the state space of the model. A commonly adopted solution to overcome this challenge is to approximate the fullorder model (anchor) with a simplified, reduced-order model (template…
In this letter, we identify passive dynamic bounding gaits of quadrupedal robots and investigate the dynamic similarities between these gaits and those of a bipedal model. For this purpose, we develop a passive dynamic bounding model of a quadruped with an extended main body. This model is based on
This paper uses optimal control to simultaneously optimize the motion and morphology of a realistic model of a 2D Monoped. In particular, we compare the energetics of four different actuator configurations: a parallel elastic actuator (PEA) in the hip and a series elastic actuator in the leg (SEA),
This paper presents a novel variable transmission system that is based on the concept of digital hydraulics. In the proposed system, sets of rolling-diaphragm cylinders are mounted via different effective lever arms to an input and output joint. A variable subset of these cylinders is connected via…
If the control authority of a running system is insufficient to reach a target state in a single step, i.e. if deadbeat control is not possible, then a stabilizing controller is faced with the decision on how to plan intermediate steps. In this work, we compare the performance of a simple greedy con…