We are prototyping a legged vehicle for an exploratory mission on another planet,
conceivably Mars, where it is to traverse uncharted areas and collect material samples. This …

The evolution of legged vehicles has progressed significantly in recent years. These
vehicles offer the potential of increased mobility for traversing rough terrain. The ability to …

For a legged system to travel on rough terrain it must use the available footholds, even when
they are isolated or occluded by obstacles. This paper addresses the task of adjusting the …

This book presents various techniques to carry out the gait modeling, the gait patterns
synthesis, and the control of biped robots. Some general information on the human walking …

In the past, the determination of the gait stability margins of legged locomotion systems
depended mainly on numerical computation assisted by graphical methods. Although some …

Walk can be classified as' static walk'and'dynamic walk'. It is said that dynamic walk is
superior in both speed and energy consumption. This paper describes how a quadruped …

The past few years have brought a tremendous rise in the envisioned potential of robotic
systems, and a correspondingly significant increase in the number of proposed applications …

Robotic limbs have been shown to enable mobility in unstructured, real-world terrain; they
allow robots to step around cluttered environments, scramble up hills, carry heavy loads …

Hexapod tripod gaits for straight-line motion and crab walking are derived. Mathematical
relations that express the stability margin, the stride length, and the duty factor are …

In this paper, we propose a scheme for fault detection and tolerance of the hexapod robot
locomotion on even terrain. The fault stability margin is defined to represent potential …