Nowadays, there is a growing awareness on the social and economic importance of the
ocean. In this context, being able to carry out a diverse range of operations underwater is of …

Articulated legs enable the selection of robot gaits, including walking in different directions
such as forward or sideways. For longer distances, the best gaits might maximize velocity or …

Inspired by the locomotor nervous system of vertebrates, central pattern generator (CPG)
models can be used to design gaits for articulated robots, such as crawling, swimming or …

In this paper, the design, the development, and the control for an 18 degree-of-freedom
electrohydraulic hexapod robot for subsea operations are presented. The hexapod, called …

Purpose This paper aims to present a new method to analyze the robot's obstacle
negotiation based on the terramechanics, where the terrain physical parameters, the …

In this paper, we focus on the problem of directing the gaze of a vision system mounted to
the body of a high-degree-of-freedom (DOF) legged robot for active perception deployments …

Motion of hexapod robots on inclined terrain is an important problem in legged robotics. This
paper presents a controller that feeds in to an existing high-level controller with the goal of …

Navigation on different types of terrain has formed a barrier in usage of robots across
various fields. Legged robots have more maneuverability compared to wheeled robots and …

To realize a robot that can move at high speed according to the environment while
maintaining the traversability of a multi-legged robot, we propose a robot by focusing on the …

In this paper, the leg structure design of an underwater hexapod robot was carried out based
on the establishment of the dynamics model considering the influence of the water …