Confined and subterranean areas are common in many civilian and industrial sites,
although they are hazardous for humans given the presence of noxious gases, extreme …

Recent developments in driving mode have heightened the need for quadruped robots.
However, it is still a challenge to improve the dynamic characteristics. This paper makes a …

Spawned by fast-paced progress in new materials and integrate circuit technology, the past
two decades have witnessed tremendous development of humanoid robots for both …

In order to enhance the terrain mobility of the close-chain leg mechanism and maximize its
advantages, a novel dual degree-of-freedom (DoF) octopod platform with a reconfigurable …

Accurate and timely monitoring is imperative to the resilience of forests for economic growth
and climate regulation. In the UK, forest management depends on citizen science to perform …

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

LiDAR-based localization and mapping is one of the core components in many modern
robotic systems due to the direct integration of range and geometry, allowing for precise …

This paper tackles the problem of nonprehensile object transportation through a legged
manipulator. A whole-body control architecture is devised to prevent sliding of the object …

Articulated legs enable the selection of robot gaits, including walking in different directions
such as forward or sideways. For longer distances, the best gaits might maximize velocity or …

Legged robot locomotion requires the planning of stable reference trajectories, especially
while traversing uneven terrain. The proposed trajectory optimization framework is capable …