The task of performing locomotion and manipulation simultaneously poses several scientific
challenges, such as how to deal with the coupling effects between them and how to cope …

We present an approach for achieving a natural, efficient gait on bipedal robots using
straightened legs and toe-off. Our algorithm avoids complex height planning by allowing a …

Human life is invaluable. When dangerous or life-threatening tasks need to be completed,
robotic platforms could be ideal in replacing human operators. Such a task that we focus on …

In this work, we present a highly functional teleoperation system, that integrates a full-body
inertia-based motion capture suit and three intuitive teleoperation strategies with a Whole …

Legged manipulators are a prime candidate for reducing risk to human lives through
completing tasks in hazardous environments. However, controlling these systems in real …

Energy consumption for bipedal walking plays a central role for a humanoid robot with
limited battery capacity. Studies have revealed that exploiting the allowable Zero Moment …

The sanctity of human life mandates the replacement of individuals with robotic systems in
the execution of hazardous tasks. Explosive Ordnance Disposal (EOD), a field fraught with …

We propose a bipedal walking and impact reduction algorithm for a bipedal robot with
pneumatically driven knees. The proposed algorithm is meaningful in that unlike in the …

Load-carrying capability is an essential criterion in legged robots' practical application. This
paper proposes an unpowered hydraulic auxiliary system to improve the legged robot's …

This paper outlines the process of opening a springloaded door with a quadrupedal mobile
manipulator. A Cartesian trajectory planner based on manifold interpolation is developed to …