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Abstract The paper proposes a novel multi-legged robot with pitch adjustive units aiming at obstacle surmounting. With only 6 degrees of freedom, the robot with 16 mechanical legs walks steadily and surmounts the obstacl...

Abstract The wheel-legged hybrid structure has been utilized by ground mobile platforms in recent years to achieve good mobility on both flat surfaces and rough terrain. However, most of the wheel-legged robots only have...

Abstract This paper presents an effective way to support motion planning of legged mobile robots—Inverted Modelling, based on the equivalent metamorphic mechanism concept. The difference from the previous research is t...

Wheel-legged robots offer high mobility on flat terrain and adaptability in complex environments, yet achieving stable motion under uncertain ground conditions and during height variations poses significant control chall...

The Indonesian Robot Contest (KRI) is an event to develop creativity and enrich science and technology in the field of robotics. In KRI, there are several branch categories, one of which is the KRPAI (Indonesian Fire Fig...

Foothold selection for hexapod robots in complex terrain presents a significant challenge, demanding both high computational efficiency and robust adaptability. To address this issue, this paper introduces a foothold sel...

Legged robots, particularly quadrupeds, have emerged as an essential research focus for traversing unstructured environments where wheeled systems are limited. This paper presents a novel Multi-Level Cognitive Control Ar...

Abstract The reflex arc is fundamental to the physiology of posture and robust locomotion. Mimicking biological reflexes in engineered systems has, therefore, high potential to improve robustness and learning performance...