Nowadays, design, development, and motion planning of a mobile robot explore research
areas in the field of robotics. Mobile robots have an extensive area of applications in various …

Variable stiffness actuators (VSAs) are complex mechatronic devices that are developed to
build passively compliant, robust, and dexterous robots. Numerous different hardware …

Mini Cheetah is a small and inexpensive, yet powerful and mechanically robust quadruped
robot, intended to enable rapid development of control systems for legged robots. The robot …

Across kingdoms and length scales, certain cells and organisms navigate their
environments not through locomotion but through growth. This pattern of movement is found …

In individuals with lower-limb amputations, robotic prostheses can increase walking speed,
and reduce energy use, the incidence of falls and the development of secondary …

This paper serves as one of the first efforts to enable large-scale and long-duration
autonomy using the Boston Dynamics Spot robot. Motivated by exploring extreme …

Designing an actuator system for highly dynamic legged robots has been one of the grand
challenges in robotics research. Conventional actuators for manufacturing applications have …

Fast and stable locomotion of legged robots involves demanding and contradictory
requirements, in particular rapid control frequency as well as an accurate dynamics model …

In this article, we present the design of a powered knee-ankle prosthetic leg, which
implements high-torque actuators with low-reduction transmissions. The transmission …

Several arboreal mammals have the ability to rapidly and repeatedly jump vertical distances
of 2 m, starting from rest. We characterize this performance by a metric we call vertical …