Multilegged robots have the potential to serve as assistants for humans, replacing them in
performing dangerous, dull, or unclean tasks. However, they are still far from being …

There have been significant interests and efforts in the field of impedance control on robotic
manipulation over last decades. Impedance control aims to achieve the desired mechanical …

Fast and stable locomotion of legged robots involves demanding and contradictory
requirements, in particular rapid control frequency as well as an accurate dynamics model …

This paper presents a demonstration of the trot-to-gallop transition and subsequent stable
gallop in a robotic quadruped. The MIT Cheetah I, a planar quadruped platform for high …

This letter addresses the problem of computing optimal impedance schedules for legged
locomotion tasks involving complex contact interactions. We formulate the problem of …

The rapid change of motion direction during running is beneficial to improving the movement
flexibility of the quadruped robot, which is of great relevance to its research. How to make …

足式机器人在行走过程中, 足端与地面之间的法向冲击力将影响机器人的在垂直方向上的稳定性
. 被动柔顺可以减小垂直冲击力但同时可引发平台持续震荡. 针对该问题, 设计基于足端力反馈的 …

Leg stiffness plays a critical role in legged robots' speed regulation. However, the analytic
solutions to the differential equations of the stance phase do not exist, of course not for the …

This paper presents the control strategy for 5-link biped robot consisting of an underactuated
floating trunk and rigid legs. Controlling legged system is challenging due to the …

The next generation of autonomous-legged robots will herald a new era in the fields of
manufacturing, healthcare, terrain exploration, and surveillance. We can expect significant …