... redesign effort, lowering the cost of legged robots while speeding up the design and optimization process. We have fabricated and tested the leg across six different stiffness profiles that vary both the nonlinearity and coefficient. Through a vertical jumping experiment actuated by a DC motor, we also...

... robot partition-aware stability control push recovery whole-body capturability dynamics legged robots References [1] Mummolo , C. , Mangialardi , L. , and Kim , J. H. , 2017 , “ Numerical Estimation of Balanced and Falling States for Constrained Legged Systems ,” J...

... is performed [ 7 ]. The main drawbacks of legged locomotion with dynamic gait are the high mechanical and control complexity and the relatively low energy efficiency. Today, only few companies and research centers realize legged robots with dynamic gait characterized by good technology readiness level, at very...

... Corresponding author. Email: sohgimsong@sutd.edu.sg legged robots mechanism design mobile robots robot design References [1] Ghost Robotics , 2016 , https://www.ghostrobotics.io/ , Accessed February 8, 2022. [2] Johnson , A. M. , and Koditschek , D. E. , 2013...

... 2022 18 11 2022 09 02 2023 walking robot on-structure machining machining of large structures parallel robot 3PRRR legged robots manufacturing mobile robots parallel platforms robot design References [1] Axinte , D. A. , Allen , J. M. , Anderson...

... of M echanisms and R obotics . 06 09 2022 23 12 2022 23 12 2022 30 01 2023 self-reconfiguring robot multi-branch robots truss climbing screw theory legged robots mechanism design mobile robots theoretical kinematics National Natural Science Foundation...

... will improve the stability, however, it is still hard for quadruped and hexapods robots to grasp objects of similar size by using a separate manipulator. 3 Unlike many heavy-legged robots manipulating small objects, in suspended retrieval applications, the grasping robot needs to be small and light relative...

... dynamics legged robots References [1] Vukobratović , M. , and Borovac , B. , 2004 , “ Zero-Moment Point—Thirty Five Years of Its Life ,” Int. J. Humanoid Robot. , 1 ( 1 ), pp. 157 – 173 . [2] Kajita , S. , and Tani , K. , 1991 , “ Study of Dynamic Biped...

...Yiyu Chen; Lingchen Lian; Yu-Hsiu Hsieh; Quan Nguyen; Satyandra K. Gupta Legged robots have a unique capability of traversing rough terrains and negotiating cluttered environments. Recent control development of legged robots has enabled robust locomotion on rough terrains. However, such approaches...

... possible application to many legged robotic platforms. Table 6 LLAMA leg control parameters Parameter Symbol Value Units Stroke length L stroke 0.2287 m Nominal leg length L nom 0.3874 m Flight offset L off 0.1060 m Frequency f 5.863 Hz...

... and will eventually fall. The range of disturbances that the controller can handle is not suitably addressed. Compliant mechanisms dynamics legged robots 30 01 2020 27 10 2020 29 10 2020 09 08 2022 Contributed by the Mechanisms and Robotics Committee of ASME for publication...

.... , Bicchi , A. , and Vijayakumar , S. , 2019 , “ Online Optimal Impedance Planning for Legged Robots ,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , pp. 6028 – 6035 . 10.1109/IROS40897.2019.8967696 The author of the Discussion Article [ 1 ] was in the same...

... 2021 28 05 2022 31 05 2022 21 06 2022 compliant mechanisms legged robots mechanism design constant force mechanisms structural optimization National Natural Science Foundation of China 10.13039/501100001809 52050410329 Compliant constant force mechanisms...

... for publication in the J ournal of M echanisms and R obotics . 22 09 2021 18 04 2022 20 04 2022 06 06 2022 bio-inspired design compliant mechanisms legged robots mechanism synthesis mobile robots robot design Copyright © 2022 by ASME; reuse license CC-BY 4.0 2022...

... 1 Corresponding author. Email: liujinguo@sia.cn Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 09 12 2021 07 04 2022 08 04 2022 27 05 2022 legged robots Chinese Academy...

... 2022 25 04 2022 legged robots compliant joint/mechanism under-actuated robots variable passive compliance National Science Foundation 10.13039/100000001 1427422 There is a long history of research on legged robots due to their ability to traverse uneven terrains...

... verified the effectiveness of the method. Based on the success of our experiments, we believe our method can be applied to emulate other motions as well. 04 01 2021 03 10 2021 07 10 2021 18 11 2021 bio-inspired design legged robots mechanism design robot design Table...

.... 61 – 69 . 10.1109/JRA.1986.1087040 [30] Santos , P. G. D. , Garcia , E. , and Estremera , J. , 2006 , Quadrupedal Locomotion—An Introduction to the Control of Four-Legged Robots , Springer-Verlag , London . [31] Owaki , D. , and Ishiguro , A. , 2017...

... echanisms and R obotics . 30 09 2020 11 05 2021 12 05 2021 13 07 2021 magnetic soft robot hyperelastic buckling accurate locomotion legged robots robot design Over the last decade, scientists have made great progress in making soft robots more flexible...

... where k c p ∈ R 2 × 2 is the positive-definite diagonal matrix of the control gain for the CP-based stepping control. A control method capable of predicting future behavior is required to generate the CoM motion in legged robots. To do this, model predictive control (MPC...