... with no slip. Although robots with legged locomotion are inspired by the nature [ 4 ], they have superior terrain and obstacle climbing capabilities. Unlike wheeled robots, it needs an intermittent contact point to navigate the terrain without eroding the surface. However, legged robots require complex design...

... the impact force and ensure stable equilibrium during walking. Therefore, the proposed reconfigurable closed-chain leg can enhance the terrain adaptability and enrich the applications of closed-chain legged robots. Fig. 3 Movement sketch of the reconfigurable closed-chain leg: ( a ) CAD drawing and ( b...

...@bit.edu.cn Email: qhuang@bit.edu.cn Contributed by Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 10 06 2023 29 02 2024 01 03 2024 29 03 2024 Graphical Abstract Figure legged robots robot motion...

... for publication in the J ournal of M echanisms and R obotics . 29 10 2023 01 03 2024 05 03 2024 29 03 2024 Graphical Abstract Figure legged robots mobile robots robot motion planning and control Path planning and following is an important part of any robot’s...

... . To establish a dynamic climbing model that incorporates a dynamic contact model, it is necessary to first develop the dynamic model of the robot's body structure. The dynamic modeling of a legged robot's body structure is a multibody dynamics problem. In this paper, we take our previously designed biomimetic...

... stability equilibrium region stability region radius of curvature potential energy curvature theory legged robots biped robots Ministry of Human Resource Development 10.13039/501100004541 F.No.35- 5/2017-TS.I: PMRF The theoretical basis for the study of the stability...

...Yiqun Li; Jiahui Gao; Kai Chen; Wei Chen; Zhouping Yin The wheel-legged robot inherits the merit of both the wheeled robot and the legged robot, which can not only adapt to the complex terrain but also maintain the driving efficiency on the flat road. This article presents an optimization-based...

... 09 2023 11 09 2023 17 10 2023 locust-inspired jumping robots kinematic stability dynamic stability Stephenson II six-bar mechanism eight-bar jumping mechanism legged robots mechanism design mechanism synthesis mobile robots National Natural Science Foundation...

.... Email: baekkyucho@kookmin.ac.kr Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 01 04 2023 19 05 2023 22 05 2023 26 06 2023 legged robots mechanism design The development...

... for publication in the J ournal of M echanisms and R obotics . 12 10 2022 01 04 2023 07 04 2023 26 05 2023 legged robots mechanism design mechanism synthesis mobile robots National Science Foundation 10.13039/100000001 1751770 Multilegged robots [ 1 ] have...

...Chenkun Qi; Huayang Li; Feng Gao; Xianbao Chen; Yue Zhao; Zhijun Chen Calculating the maximum obstacle-crossing ability accurately at the mechanism design stage can better ensure that the manufactured robot prototype meets the predefined indices. The obstacle-crossing task of the legged robot...

... [24] Hof , A. L. , 1996 , “ Scaling Gait Data to Body Size ,” Gait Posture , 4 ( 3 ), pp. 222 – 223 . 10.1016/0966-6362(95)01057-2 [25] Xi , W. , Yesilevskiy , Y. , and Remy , C. D. , 2016 , “ Selecting Gaits for Economical Locomotion of Legged Robots ,” Int. J. Rob...

... 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...

.... 157 – 173 . 10.1142/S0219843604000083 [10] Hirukawa , H. , Hattori , S. , Harada , K. , Kajita , S. , Kaneko , K. , Kanehiro , F. , Fujiwara , K. , and Morisawa , M. , 2006 , “ A Universal Stability Criterion of the Foot Contact of Legged Robots-Adios ZMP...

... Mismatch for Door Opening and Stair Climbing With a Legged Robot ,” 2017 IEEE International Conference on Robotics and Automation (ICRA) , Singapore , May 29–June 3 , IEEE, pp. 1080 – 1087 . [22] Kau , N. , Schultz , A. , Ferrante , N. , and Slade , P. , 2019 , “ Stanford Doggo...

... surveillance inspection legged robots mechanism design mechanism synthesis mobile robots robot design In the next years, the world market of service robotics is expected to grow remarkably, overcoming the market of industrial robotics [ 1 ]. Mobile robots will interact with humans in a much wider...

... internal fund 10.13039/501100004070 RC1-2018-KUCARS walking robot on-structure machining machining of large structures parallel robot 3PRRR legged robots manufacturing mobile robots parallel platforms robot design 02 06 2022 16 11 2022 18 11 2022 09 02 2023...

... al. proposed a six-legged robot, which is designed based on bionic beetles and is equipped with a variety of motion gaits to perform robot operations in a mountain environment [ 10 ]. However, the robot studied above only has a single motion mode and is difficult to cope with the dynamic and complex...

..., no sensor feedback is included in the robotic system for both physical experiments and simulation. This work focuses on the mechanical structure of this kind of legged robot to position legs for grasping without additional manipulators. Sensors will be included in future work to help the robot develop...

... and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 18 03 2022 08 10 2022 13 10 2022 25 11 2022 dynamics legged robots The locomotion of bipedal robots is classified into active and passive walking. In active walking...