Design and analysis of a novel octopod platform with a reconfigurable trunk

J Wu, H Yang, R Li, Q Ruan, S Yan, Y Yao - Mechanism and Machine …, 2021 - Elsevier
In order to enhance the terrain mobility of the close-chain leg mechanism and maximize its
advantages, a novel dual degree-of-freedom (DoF) octopod platform with a reconfigurable …

Efficient motion generation for a six-legged robot walking on irregular terrain via integrated foothold selection and optimization-based whole-body planning

Y Tian, F Gao - Robotica, 2018 - cambridge.org
In this paper, an efficient motion planning method is proposed for a six-legged robot walking
on irregular terrain. The method provides the robot with fast-generated free-gait motions to …

Lunar surface soft-landing analysis of a novel six-legged mobile lander with repetitive landing capacity

K Yin, Q Sun, F Gao, S Zhou - Proceedings of the Institution …, 2022 - journals.sagepub.com
The autonomous robots consisting of an immovable lander and a rover are widely deployed
to explore extraterrestrial planets. Two main drawbacks limit the development of this …

Novel method of gait switching in six-legged robot walking on continuous-nondifferentiable terrain by utilizing stability and interference criteria

LH Mao, Y Tian, F Gao, Y Zhao - Science China Technological Sciences, 2020 - Springer
Continuous-nondifferentiable terrains are extremely challenging for the environment
adaption of six-legged robots. Previous researches have focused on gait planning methods …

The gait planning of hexapod robot based on CPG with feedback

B Wang, K Zhang, X Yang… - International journal of …, 2020 - journals.sagepub.com
To realize the omnidirectional motion, the transition motion of hexapod robot from flat to
slope is studied, and a new type of stability criterion is proposed. Firstly, the landing point …

Design and analysis of a novel octopod platform with spatial 8R reconfigurable trunk

H Yang, H Liu, L Zeng, J Wu, Y Yao - Mechanism and Machine Theory, 2025 - Elsevier
This study proposes an octopod platform with a reconfigurable trunk to enhance walking
patterns and terrain adaptability in closed-chain-legged systems. An 8R reconfigurable …

[PDF][PDF] Wheel-legged hexapod robots: a multifunctional mobile manipulating platform

X Ding, Y Zheng, K Xu - Chinese Journal of Mechanical …, 2017 - cjme.springeropen.com
Robots are burdensome o but also the m of complex m wheel-legged meet this cond Multi-
legge be capable of characteristic redundant DO walking. In ca still walk usin deal structure …

Type synthesis of walking robot legs

D Xi, F Gao - Chinese Journal of Mechanical Engineering, 2018 - Springer
Walking robots use leg structures to overcome obstacles or move on complicated terrains.
Most robots of current researches are equipped with legs of simple structure. The specific …

Optimal design for an end face engagement worm gear with multiple worm-wheel meshing

X Deng, W Zhu, Y Chen, S Chen, J Wang - Chinese Journal of Mechanical …, 2017 - Springer
To solve the problem for lacking a special mechanical transmission that could provide
multiple outputs with high transmission efficiency and good lubrication in the modern …

Novel door-opening method for six-legged robots based on only force sensing

ZJ Chen, F Gao, Y Pan - Chinese Journal of Mechanical Engineering, 2017 - Springer
Current door-opening methods are mainly developed on tracked, wheeled and biped robots
by applying multi-DOF manipulators and vision systems. However, door-opening methods …