Highly dynamic movements such as jumping are important to improve the agility and
environmental adaptation of humanoid robots. This article proposes an online optimization …

For a hydraulic wheel-legged robot (WLR), it is essential to have a powerful and lightweight
power supply. In this paper, a compact hydraulic power unit (HPU) is developed, and a …

This paper presents an optimized design and motion planning method of a hydraulically
driven leg for jumping. The knee joint range was enlarged, and the desired torque profile …

提出一种基于虚拟模型控制和加速度规划的腿部缓冲方法. 通过建立机器人腿部的虚拟模型,
设定落地过程中躯干加速度从而可减小地面对机器人的冲击力, 保护机器人的机械结构 …

This paper deals with an optimal landing motion of a 4-link legged robot that minimizes the
impact force at the contact point and the joint torques necessary during the motion. The cost …

This paper deals with an optimal landing motion of a four-link legged robot that minimizes
the impact force at the contact point and the joint torques necessary during the motion. The …

The energy losses due to impact between a hopping robot and a non-rigid foundation
makes it challenging to maintain a desired apex height of the center-of mass. We consider …

Compared with wheeled or tracked robots, legged robots exhibit advantages on agile
locomotion and higher survival chance for deadly impacts. A buffering strategy is proposed …