This paper describes a simulation model for a multi-legged locomotion system with joints at
the legs having viscous friction, flexibility and backlash. For that objective the robot …

The paper presents an innovative hexapod walking robot built with 3-UPU parallel
mechanism. In the robot, the parallel mechanism is used as both an actuator to generate …

The performance of bluespotted rays was emulated in the design of a bioinspired
underwater propulsor in the present work. First, the movement of a live bluespotted ray was …

Planning a robust gait is one of the most basic aspects to enable a quadruped robot to walk
stably on rough terrains. In this paper, we focus on the scenario where a quadruped robot …

The COG trajectory planning method is the primary concern in the gait planning for
quadruped robot, especially when the quadruped robot travelling on rough terrain. In this …

Motion planning of walking machines normally contains two aspects: gait planning and body
trajectory planning. When generating an optimal body trajectory on natural terrain, the leg …

This article focuses on the dynamic index and performance of a radial symmetric six-legged
robot. At first the structure of the robot is described in brief and its inverse kinematics is …

The design target of complex control systems for novel robots with advanced motion abilities
is to produce controllers (hardware and software) which are easy to program, re-program …

A multifunctional 4 legged walking machine that is being developed in the Robotics
Research Centre (NTU) is described. The major factors influencing the design requirements …

The properties of the software part of a control system implemented in walking robots are
described. The paper presents also the navigation method elaborated for a family of …