Inspired by biomechanical studies, the spring-loaded inverted pendulum model is an
effective behavior model to describe the running movement of animals and legged robots in …

We report on the development of a novel two-degrees-of-freedom module capable of
transforming its shape between a wheel and a leg, with the length of the latter approximately …

We report on the methodology of developing a hybrid model and utilizing it as a template to
initiate running behavior in a legged robot. The hybrid model is comprised of a physics …

As a versatile template characterizing the center of mass movements in legged locomotion,
the sagittal spring-loaded inverted pendulum (SLIP) model has been extensively explored in …

The safety of ship hulls, reservoir dams, and bridge piers must be ensured through routine
fracture detection and damage repair. An underwater robot with eight thrusters and six C …

Biomechanical models with different levels of complexity are of advantage to understand the
underlying principles of legged locomotion. Following a minimalistic approach of gradually …

The classical spring-loaded inverted pendulum (SLIP) model only takes the axial force along
the equivalent leg into account without considering the tangential force. This disadvantage …

This article introduces a model-based strategy for a quadruped robot with differentiated fore-
and hind-leg ground reaction force patterns to generate animal-like running behavior. The …

To promptly gain an understanding of disasters as they occur and to draft plans for search
and rescue operations, various types of robots are used. Robots not only increase rescue …

We report on the development of separated and laterally arranged two-leg (SLTL) models
with/without differentiated leg properties and their use as the dynamic running and turning …