Path planning, gait planning and trajectory planning are assuming an increasing
significance for Hexapod Walking robots and more generally, in legged robotics. Indeed, the …

The fault tolerant gait of legged robots in static walking is a gait which maintains its stability
against a fault event preventing a leg from having the support state. In this paper, a fault …

I wonder whether Karel Capek imagined in 1923 that by his use of the Czech word for forced
labor, rohota, to name the android creations of Mr. Rossum he was naming an important …

Walking vehicles have the potential to emulate the superior off‐road mobility of biological
systems. However, it is important to make the walking machine terrain adaptive and …

We present a general approach for coordinating the legs of a multi‐legged statically stable
walking machine on an uneven terrain. We are interested in an optimized motion plan for …

Legged robots are well suited to walk on difficult terrains at the expense of requiring
complex control systems to walk even on flat surfaces. But simply walking on a flat surface is …

Discontinuous gaits for walking machines have not yet been properly studied. Research has
focused on the investigation, comprehension, and mathematical formulation of natural gaits …

A motion planning algorithm for uneven-terrain locomotion for a multilegged vehicle is
described. The algorithm has been developed based on the vehicle/terrain kinematic …

An adaptive gait algorithm for multilegged walking machines over rough terrain has been
developed. The heuristic and hierarchical approach for the three levels of: 1) body motion …

Control of walking machines involves a hierarchy of computational tasks which is naturally
suited to a multicomputer implementation. This paper describes the hardware and software …