The interest in exploring planetary bodies for scientific investigation and in situ resource
utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-the-art …

Simulation-based reinforcement learning approaches are leading the next innovations in
legged robot control. However, the resulting control policies are still not applicable on soft …

We present CAJun, a novel hierarchical learning and control framework that enables legged
robots to jump continuously with adaptive jumping distances. CAJun consists of a high-level …

This article presents a review of the platform configuration and dynamic of obstacle-
surmounting unmanned ground vehicles (UGVs). For now, unmanned systems have …

Scientific exploration of planetary bodies is an activity well-suited for robots. Unfortunately,
the regions that are richer in potential discoveries, such as impact craters, caves, and …

Legged robots have been widely used in unstructured field environments, where unforeseen
nongeometric hazards, such as sinkage or slippage might compromise their mobility. Such …

This study proposes an angled spoke-based wheel (ASW) design to enhance the driving
speed of a mobile robot with angled spoke-based wheels called DODO on granular media …

We present the design of a robotic leg that can seamlessly switch between a spring-
suspended, and unsuspended configuration. Switching is realized by a mechanism that …

Traditional lunar landers face challenges due to strict flatness requirements at landing sites
and the need to avoid complex terrains, which significantly limits their exploration …

The jumping motion of legged robots is an effective way to overcome obstacles in the
rugged microgravity planetary exploration environment. At the same time, a quadruped robot …