The use of soft robots in future space exploration is still a far-fetched idea, but an attractive
one. Soft robots are inherently compliant mechanisms that are well suited for locomotion on …

Legged locomotion is a rapidly advancing area in robotics, yet still a large number of open
questions exist. This work focuses on the foot-terrain interaction and its effect on the motion …

We present the outcome of a study on the energetic expenditure of quadrupedal gaits in the
gravitational scenarios of Earth, Mars and the Moon. The study was performed in simulation …

In robotic navigation, safety and efficiency play an important role and must be evaluated
together. This paper proposes a simple and efficient method to derive the traversability maps …

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 …

So far, mobile, robotic exploration of celestial bodies has been performed solely with
wheeled systems, making access to highly unstructured, compressible, and sloped areas …

One of the pinnacles of human progress is, without a doubt, the automation technology that
was developed in the past century. The advancements towards new directions and uses …

In this work, we link the various parameters that characterize a quadruped robot to the gait
that it eventually opts for the steady state part of its locomotion. We then introduce an …

Στην παρούσα Διπλωματική Εργασία, μελετάται–εκτενώς–το πρόβλημα της συστηματικής
περιγραφής της «μόνιμης κατάστασης» της εκάστοτε προσομοιωμένης κίνησης ενός …