The interest in exploring planetary bodies for scientific investigation and in situ resource
utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-the-art …

In this article, we show that learned policies can be applied to solve legged locomotion
control tasks with extensive flight phases, such as those encountered in space exploration …

This article presents a review of the platform configuration and dynamic of obstacle-
surmounting unmanned ground vehicles (UGVs). For now, unmanned systems have …

Parallel-elastic joints can improve the efficiency and strength of robots by assisting the
actuators with additional torques. For these benefits to be realized, a spring needs to be …

In this paper, we consider a general task of jumping varying distances and heights for a
quadrupedal robot in noisy environments, such as off of uneven terrain and with variable …

Unlike the spherical gravitational field of planets and other large solar system bodies, the
gravitational field of asteroids is irregular and weak. It is challenging for a planetary rover to …

In this investigation, the integrated attitude and landing control scheme for quadruped robots
in asteroid landing mission scenario is discussed. Compared with the gravitational field …

Quadrupeds deployed in real-world scenarios need to be robust to unmodelled dynamic
effects. In this work, we aim to increase the robustness of quadrupedal periodic forward …

Falling cat problem is well-known where cats show their super aerial reorientation capability
and can land safely. For their robotic counterparts, a similar falling quadruped robot …

This study presents the design and sequential control strategies of a novel lightweight
climbing robot. The quadruped robot with a left–right and front–hind symmetric insect-type …