Multilegged robots have the potential to serve as assistants for humans, replacing them in
performing dangerous, dull, or unclean tasks. However, they are still far from being …

This work reviews the main techniques to model dynamical systems with contact-impact
events. Regularized and non-smooth formulations are considered, wherein the fundamental …

Maintaining a stable trunk while driving over rough terrain is a challenging issue for a multi-
wheel-leg mobile robot, since the control coupling between the legs and the trunk has a …

Mobile robots are essential for inspection, surveillance, and disaster relief. The legged robot
can adapt to challenging terrains such as stairs and debris. The hexapod robot has better …

Legged robots have potential advantages in mobility compared with wheeled robots in
outdoor environments. The knowledge of various ground properties and adaptive …

There is a strong demand for Planetary Exploration Mobile robots (PEMRs) that have the
capability of the traversability, stability, efficiency and high load while tackling the …

Shape-changing robots show great potential in locomotion on complex terrains for their
capability of reshaping to fit the rough surfaces and to move omnidirectionally. In previous …

Compared with wheeled and tracked robots, legged robots have better movement ability
and are more suitable for the exploration of unknown environments. In order to further …

In recent years, mobile robots have been helpful systems to perform a wide variety of
complex tasks in daily life applications from industry, academy, and home. These robots …

This correspondence focuses on the design of sliding mode control (SMC) schemes for the
class of underactuated nonlinear systems represented in the cascaded form. Though SMC …