Legged robots have demonstrated significant achievements in recent years. Some legged
robots have considerable flexibility and movement abilities. However, certain obstacles …

A motion control approach is proposed for hydraulic actuated quadruped robots, aiming to
achieve active compliance and robust motion control. The approach is designed with a …

The hydraulic servo actuator with passive compliance (HPCA) is designed for hydraulically-
driven quadruped robots. It is characterized by an accumulator that connects to the piston …

This paper proposes a comprehensive framework designed for the autonomous inspection
of complex environments, with a specific focus on multi-tiered settings such as distillation …

This paper proposes a simple attitude trajectory optimization method to enhance the walking
balance of a large-size hexapod robot. To achieve balance motion control of a large-size …

Inverse dynamics is used extensively in robotics and biomechanics applications. In
manipulator and legged robots, it can form the basis of an effective nonlinear control strategy …

Most current approaches for simulating robots in 3D with rigid body dynamics and contact
operate by taking fixed, first order integration steps. In this paper, we investigate the viability …

Digital twins (DTs) provide virtual representations of both historical and potential stages of
life of real-world entities, including systems and processes. Since they can be equipped with …

Consider how a new robot is designed. Starting from a relative size (eg, nanometer,
centimeter, meter), the roboticist picks a morphological type (manipulator, quadruped …

Humans have an innate ability to collaborate. This translates into the completion of tasks
otherwise impossible, or the capability of performing complex actions in an efficient manner …