With their unique point‐contact ability with the ground and exceptional adaptability to
complex terrains, quadruped robots have become a focal point in the fields of automation …

This letter formally develops a novel hierarchical planning and control framework for robust
payload transportation by quadrupedal robots, integrating a model predictive control (MPC) …

Shifting from traditional control strategies to Deep Reinforcement Learning (RL) for legged
robots poses inherent challenges, especially when addressing real-world physical …

Gait planning is one of the most critical technologies for quadruped robots. However, far too
little attention has been paid to the tight coupling mechanism of gait planning with terrain …

To improve locomotion and operation integration, this paper presents an integrated leg-arm
quadruped robot (ILQR) that has a reconfigurable joint. First, the reconfigurable joint is …

Quadrupedal robots consume large amounts of energy while walking or standing, limiting
their range and operation time. Moreover, their design involves multiple trade-offs between …

This thesis investigates the use legged systems in the context of space exploration, an area
traditionally dominated by wheeled rovers. The advancement of legged robots for …

Despite considerable advancements in recent years, legged robots still fall short in terms of
agility when compared to their animal counterparts. This thesis takes a two-pronged …

The paper presents a design for a parallel-connected quadruped robot to address the
challenges faced by wheeled and tracked robots in complex environments for rescue …