The robotics research community has developed several effective techniques for
quadrupedal locomotion. Most of these methods ease the modeling and control problem by …

In this paper, a method is developed that results in guidelines for selecting the best Ordinary
Differential Equation (ODE) solver and its parameters, for a class of nonlinear hybrid system …

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 …

In the field of mobile robotics, legged locomotion plays an essential role in transporting
robots over various terrain types. A significant portion of research on legged robots has been …

This work presents the application of reinforcement learning to improve the performance of a
highly dynamic hopping system with a parallel mechanism. Unlike serial mechanisms …

Development and prototyping of robotic systems requires the involvement of many people
and many hours of design, development, and cooperation; significant time and effort …

Quadruped animals have been on the side of man for thousands of years, providing various
valuable services, such as fast and reliable transportation through difficult terrain, tracking …

Robotics field, and especially the one of articulated biomimetic robots, is one of the most
rapidly developing scientific fields, in which one is always required to test new ideas. For …