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 …

In this chapter a comprehensive literature survey has been carried out for multi-legged
robots. Different aspects of multi-legged robot locomotion pertaining to kinematic, dynamics …

This work demonstrates fast motion planning for robot locomotion that is optimized for terrain
with complex dynamics, specifically, rapid penetration of granular media. Gait planning is …

This paper deals with the development of a dynamical model related to crab walking of a
hexapod robot to determine the feet forces' distributions, energy consumption and dynamic …

The complex dynamics characterizing deformable terrain presents significant impediments
toward the real-world viability of locomotive robotics, particularly for legged machines. We …

In this paper, we report on the development of the clock-torqued rolling spring loaded
inverted pendulum (CTR-SLIP) model. The new model, which adds clock-based torque …

We present a bilevel, contact-implicit trajectory optimization (TO) formulation that searches
for robot trajectories with learned soft contact models. On the lower-level, contact forces are …

In this paper, we propose a semi-empirical approach for simulating robot locomotion on
granular media. We first develop a contact model based on the stick-slip behavior between …

An underwater hexapod robot, driven by six C-shaped legs and eight thrusters, has the
potential to traverse diverse terrains with unknown deformable properties, which can lead to …

One of the most intriguing research challenges in legged locomotion is robot performance
on compliant terrains. The foot-terrain interaction is usually tackled by disregarding some of …