Purpose of review In recent years, legged robots locomotion has been transitioning from
mostly flat ground in controlled settings to generic indoor and outdoor environments …

Animal-level agility and robustness in robots cannot be accomplished by solely relying on
blind locomotion controllers. A significant portion of a robot's ability to traverse terrain comes …

Hybrid driving-stepping locomotion is an effective approach for navigating in a variety of
environments. Long, sufficiently even distances can be quickly covered by driving while …

In this letter, we address path planning for the quasi-static locomotion of a multi-legged
walking robot on terrains with limited available footholds, such as passing a water stream …

Navigating in search and rescue environments is challenging, since a variety of terrains has
to be considered. Hybrid driving-stepping locomotion, as provided by our robot Momaro, is a …

The wheel-legged hybrid robot (WLHR) is capable of adapting height and wheelbase
configuration to traverse obstacles or rolling in confined space. Compared with legged and …

In this work, we concern the problem of motion planning for a hexapod walking robot
crawling in a semi-structured environment where a precise foot-tip positioning is necessary …

A control architecture for robust biped navigation that takes into account traversability on
terrain, foot-reachability, and capturability all at once in dynamic situations is proposed. It …

The hexapod robots equipped with six legs have higher stability and adaptability to
challenging terrains than other legged robots with fewer legs. The ability of hexapods to …

This paper presents a gait-free motion planning approach for quasi-static walking of
hexapod walking robots on terrains with limited available footholds. The proposed approach …