We describe crawling and jumping by a soft robot. Locomotion over rough terrain has been
achieved mainly by rigid body systems including crawlers and leg mechanisms. This paper …

As jumping is an effective method of moving over rough terrain, there is much interest in
building robots that can jump, and deformation of a soft robot's body is an effective method to …

In this article, a two-dimensional analysis of biped robot sliding dynamics is performed. First,
the dynamics of a biped robot based on feet-slip are derived using the coulomb friction …

In this paper, dynamic horizontal movement is considered with the goal of achieving high-
speed dynamic leg motion. We propose a new movement principle using frictional …

摘要嵌入式控制软件是当前诸多控制系统的核心部件. 各类安全攸关系统, 例如轨道交通系统,
航空航天系统和核电控制系统等, 其内嵌的控制软件的功能是否正确, 安全直接关系到人们的 …

When a model (ie experimental facility) and prototype (ie the real system) are dimensionally
similar, then it is possible to extrapolate experimental results from model to prototype. In …

The size and weight of an actuator tend to increase with actuator power because the
actuator power-to-mass ratio is near constant for a given type of motor. Rapid motion such …

In this paper, a jumping motion is considered with the goal of achieving high-speed dynamic
motion for legged robots. We propose a two-step jumping pattern which makes use of the …

This paper discusses jumping pattern generation for a serial link robot in order to maximize
its jump height under torque limitation. By applying a genetic algorithm (GA) for determining …

We describe crawling and jumping by the deformation of a soft robot. Locomotion over rough
terrain has been achieved mainly by rigid body systems including crawlers and leg …