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Abstract Serving the Stewart mechanism as a wheel-legged structure, the most outstanding superiority of the proposed wheel-legged hybrid robot (WLHR) is the active vibration isolation function during rolling on rugged te...

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...

Abstract The electrically driven large-load-ratio six-legged robot with engineering capability can be widely used in outdoor and planetary exploration. However, due to the particularity of its parallel structure, the eff...

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...

Abstract This paper presents the kinematic calibration of a novel six-legged walking machine tool comprising a six-legged mobile robot integrated with a parallel manipulator on the body. Each leg of the robot is a 2-univ...

Robotics technology has been used in various aspects of life to make work easier. In the industrial sector, robots are used to replace human roles in order to produce more effective and efficient work. The use of robots ...

Abstract The current gait planning for legged robots is mostly based on human presets, which cannot match the flexible characteristics of natural mammals. This paper proposes a gait optimization framework for hexapod rob...

Abstract Legged robots use isolated footholds to support, which have the merit of good terrain trafficability but lack speed ability. In contrast, wheeled robots have the advantages of high speed and efficiency but only ...

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...

Abstract Each joint of a hydraulic-driven legged robot adopts a highly integrated hydraulic drive unit (HDU), which features a high power–weight ratio. However, most HDUs are throttling-valve-controlled cylinder system...

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...