Cheetahs and beetles run, dolphins and salmon swim, and bees and birds fly with grace
and economy surpassing our technology. Evolution has shaped the breathtaking abilities of …

SUMMARY A musculo-skeletal structure can stabilize rapid locomotion using neural and/or
mechanical feedback. Neural feedback results in an altered feedforward activation pattern …

This report is on the design, control strategy, implementation, and performance evaluation of
a novel leg-wheel transformable robot called TurboQuad, which can perform fast gait/mode …

We report on the design and development of X-RHex, a hexapedal robot with a single
actuator per leg, intended for real-world mobile applications. X-RHex is an updated version …

This paper applies an extension of classical averaging methods to hybrid dynamical
systems, thereby achieving formally specified, physically effective and robust instances of all …

We report on a hybrid 12-dimensional full body state estimator for a hexapod robot
executing a jogging gait in steady state on level terrain with regularly alternating ground …

This paper describes the inspiration for, design, analysis, and implementation of, and
experimentation with the first dynamical vertical climbing robot. Biologists have proposed a …

Humans and animals adapt their leg impedance during running for both internal (eg,
loading) and external (eg, surface) changes. To date, the mechanical complexity of …

This paper introduces the concept of gait transitions, acyclic feedforward motion patterns that
allow a robot to switch from one gait to another. Legged robots often utilize collections of gait …

Biomechanical studies suggest that animals' abilities to tune their effective leg compliance in
response to changing terrain conditions plays an important role in their agile, robust …