Contact mechanics plays an important role in the design, performance analysis, simulation,
and control of legged robots. The Hunt–Crossley model and the Coulomb friction model are …

This paper presents Flying STAR (FSTAR) a reconfigurable hybrid flying quadcopter robot.
FSTAR is the latest in the family of the STAR robots fitted with a sprawling mechanism and …

This paper presents the bio-inspired design, realization, and validation of a reconfigurable
rolling–crawling robot. The developed platform is able to mimic Cebrennus rechenbergi, a …

This letter presents Rising STAR (RSTAR) a novel highly reconfigurable robot. RSTAR
belongs to the family of the STAR robots with similar sprawling capabilities allowing it to run …

The posture changing ability of multi-legged walking robots is significant for walking in rough
terrains. Six-legged walking robots are nonlinear and redundant systems with uncertainties …

This letter presents a minimally actuated Reconfigurable Continuous Track Robot (RCTR).
The RCTR can change its geometry while advancing, thus enabling it to crawl and climb …

This letter presents Tail STAR (TSTAR), a novel reconfigurable robot with an active two-link
tail. TSTAR is also fitted with a sprawling mechanism that lets it run either upright or inverted …

This paper details the development, modeling and performance of AmphiSTAR, a novel high-
speed amphibious robot. The palm size AmphiSTAR, which belongs to the family of STAR …

To achieve posture control and ride comfort (vibration isolation performance) of a robot in
unstructured terrain, a novel four-wheel-legged robot (FWLR) with an actively-passively …

This letter presents a highly reconfigurable wave robot named RSAW. RSAW is a
reconfigurable version of our recently developed single actuator wave robot (SAW) that …