Search Results - legged robots actuation and joint mechanics methods and tools for robot system design

Co-designing versatile quadruped robots for dynamic and energy-efficient motions

Authors: Fadini, Gabriele Kumar, Shivesh Kumar, Rohit et al.

Contributors: Fadini, Gabriele Kumar, Shivesh Kumar, Rohit et al.

Source: Robotica. 42:2004-2025

Subject Terms: Methods and Tools for Robot System Design Optimization and Optimal Control Simulation and Animation Mechanism Design, Mechanism Design, 0209 industrial biotechnology, [PHYS.MECA.GEME] Physics [physics]/Mechanics [physics]/Mechanical engineering [physics.class-ph], Simulation and Animation, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Optimization and Optimal Control, [PHYS.MECA.GEME]Physics [physics]/Mechanics [physics]/Mechanical engineering [physics.class-ph], [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], 02 engineering and technology, 7. Clean energy, legged robots actuation and joint mechanisms methods and tools for robot system design, mechanism design, optimization and optimal control, simulation and animation, Methods and Tools for Robot System Design, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC]

File Description: application/pdf

Access URL: https://laas.hal.science/hal-04162737v1/document
https://doi.org/10.1017/s0263574724000730
https://laas.hal.science/hal-04162737v1
https://hdl.handle.net/11572/434870
https://doi.org/10.1017/s0263574724000730

Brain-inspired biomimetic robot control: a review.

Authors: Alepuz, Adrià Mompó Papageorgiou, Dimitrios Tolu, Silvia

Source: Frontiers in Neurorobotics; 2024, p1-13, 13p

Subject Terms: ROBOT control systems, ARTIFICIAL neural networks, BRAINWASHING, SYSTEMS design, RESEARCH personnel, ROBOT hands, HUMANOID robots

Leg-body coordination strategies for obstacle avoidance and narrow space navigation of multi-segmented, legged robots.

Authors: Mingchinda, Nopparada Jaiton, Vatsanai Binggwong Leung et al.

Source: Frontiers in Neurorobotics; 2023, p1-17, 17p

Subject Terms: MOBILE robots, NAVIGATION (Astronautics), ROBOTS, RECURRENT neural networks, LIGHT curves

Locomotion Efficiency Optimization of Biologically Inspired Snake Robots.

Authors: Kelasidi, Eleni Jesmani, Mansoureh Pettersen, Kristin Y. et al.

Source: Applied Sciences (2076-3417); Jan2018, Vol. 8 Issue 1, p80, 23p

Subject Terms: ROBOT motion, MATHEMATICAL optimization, ENERGY consumption

Bio-Inspired Central Pattern Generator for Adaptive Gait Generation and Stability in Humanoid Robots on Sloped Surfaces.

Authors: Fang, Junwei Jin, Yinglian Wang, Binrui et al.

Source: Biomimetics (2313-7673); Sep2025, Vol. 10 Issue 9, p637, 25p

Subject Terms: HUMANOID robots, DYNAMIC stability, BIOMIMETICS, CENTRAL pattern generators, ADAPTIVE control systems, SLOPES (Soil mechanics), GAIT in humans, ENERGY consumption

Design of Low-Cost Modular Bio-Inspired Electric–Pneumatic Actuator (EPA)-Driven Legged Robots.

Authors: Silva, Alessandro Brugnera Murcia, Marc Mohseni, Omid et al.

Source: Biomimetics (2313-7673); Mar2024, Vol. 9 Issue 3, p164, 20p

Subject Terms: DEGREES of freedom, ARTIFICIAL muscles, MODULAR design, BIOLOGICALLY inspired computing, ROBOTS, ACTUATORS, MECHANICAL ability

Company/Entity: UNITED States. Environmental Protection Agency

Smart quadruped robotics: a systematic review of design, control, sensing and perception.

Authors: Hamrani, Abderrachid Rayhan, Md Munim Mackenson, Telusma et al.

Source: Advanced Robotics; Jan2025, Vol. 39 Issue 1, p3-29, 27p

Subject Terms: STRUCTURAL optimization, REINFORCEMENT learning, STRUCTURAL design, SENSORIMOTOR integration, ROBOTICS

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots.

Authors: Prados, Carlos Hernando, Miguel Gambao, Ernesto et al.

Source: Biomimetics (2313-7673); Jun2024, Vol. 9 Issue 6, p319, 33p

Subject Terms: AUTONOMOUS robots, STAIR climbing, SIMPLE machines, ROBOTS, SOFTWARE architecture, ROBOTICS, DECISION making

DOC: Differentiable Optimal Control for Retargeting Motions onto Legged Robots.

Authors: Grandia, Ruben Farshidian, Farbod Knoop, Espen et al.

Source: ACM Transactions on Graphics; Aug2023, Vol. 42 Issue 4, p1-14, 14p

Subject Terms: MOTION capture (Cinematography), MOTION capture (Human mechanics), ROBOT design & construction, DEGREES of freedom, ROBOTS

Dynamic modeling and simulation of a torque-controlled spatial quadruped robot.

Authors: Teixeira de Paula, Daniel Godoy, Eduardo Paciencia Becerra-Vargas, Mauricio

Source: Robotica; Aug2024, Vol. 42 Issue 8, p2761-2780, 20p

Subject Terms: GROUND reaction forces (Biomechanics), ROBOT dynamics, ANIMAL locomotion, SPACE exploration, RESCUE work

Bioinspired Legged Robot Design via Blended Physical and Virtual Impedance Control.

Authors: Mohseni, Omid Rashty, Aida Mohammadi Nejad Seyfarth, Andre et al.

Source: Journal of Intelligent & Robotic Systems; May2022, Vol. 105 Issue 1, p1-25, 25p

Impact-invariant control: maximizing control authority during impacts.

Authors: Yang, William Posa, Michael

Source: Autonomous Robots; Dec2025, Vol. 49 Issue 4, p1-24, 24p

A geometric characterization of observability in inertial parameter identification.

Authors: Wensing, Patrick M. Niemeyer, Günter Slotine, Jean-Jacques E.

Source: International Journal of Robotics Research; Dec2024, Vol. 43 Issue 14, p2274-2302, 29p

Subject Terms: INDUSTRIAL robots, SYSTEMS theory, PARAMETER identification, GEOMETRIC approach, LINEAR systems

Lateral flexion of a compliant spine improves motor performance in a bioinspired mouse robot.

Authors: Bing, Zhenshan Rohregger, Alex Walter, Florian et al.

Source: Science Robotics; 12/6/2023, Vol. 8 Issue 85, p1-13, 13p

Subject Terms: WALKING speed, SPINE, ROBOTS, MORPHOLOGY, MICE

A springtail-inspired multimodal walking-jumping microrobot.

Authors: Ramirez Serrano, Francisco Hyun, Nak-seung Patrick Steinhardt, Emma et al.

Source: Science Robotics; 2/12/2025, Vol. 10 Issue 99, p1-13, 13p

Subject Terms: SHAPE memory alloys, VIDEO recording, MUSCLE strength, COLLEMBOLA, DYNAMIC models

Multibody dynamic modeling and motion analysis of flexible robot considering contact.

Authors: Wu, Tingke Liu, Zhuyong Ma, Ziqi et al.

Source: Multibody System Dynamics; Nov2024, Vol. 62 Issue 3, p367-399, 33p

Reimagining robotic walkers for real-world outdoor play environments with insights from legged robots: a scoping review.

Authors: Stewart-Height, Abriana Koditschek, Daniel E. Johnson, Michelle J.

Source: Disability & Rehabilitation: Assistive Technology; Aug2023, Vol. 18 Issue 6, p798-818, 21p, 2 Color Photographs, 1 Diagram, 1 Chart, 1 Graph

Subject Terms: ONLINE information services, MEDICAL equipment reliability, SYSTEMATIC reviews, TRAVEL, MOTIVATION (Psychology), MILD cognitive impairment, RECREATION, ECOLOGY, CHILDREN with disabilities, ROBOTICS, PRODUCT design, WALKERS (Orthopedic apparatus), PLAY, ASSISTIVE technology, REHABILITATION of children with disabilities, COMMERCIAL product evaluation, QUALITY assurance, DESCRIPTIVE statistics, RESEARCH funding, MEDLINE, CHILDREN

A Dynamic Approach to Low-Cost Design, Development, and Computational Simulation of a 12DoF Quadruped Robot.

Authors: Rahman, Md. Hasibur Alam, Saadia Binte Mou, Trisha Das et al.

Source: Robotics; Feb2023, Vol. 12 Issue 1, p28, 23p

Subject Terms: ROBOT kinematics, ROBOTS, PRICES

Sim-to-real transfer of co-optimized soft robot crawlers.

Authors: Schaff, Charles Sedal, Audrey Ni, Shiyao et al.

Source: Autonomous Robots; Dec2023, Vol. 47 Issue 8, p1195-1211, 17p

Kinetostatic analysis for compliant legged robots with ground contact forces evaluation.

Authors: Tonetto, Cristiane Pescador Simas, Henrique

Source: Meccanica; Sep2022, Vol. 57 Issue 9, p2379-2393, 15p