Concept

Hexapod (robotics)

Related publications (107)

Inverse kinematics and reflex based controller for body-limb coordination of a salamander-like robot walking on uneven terrain

Auke Ijspeert, Kamilo Andres Melo Becerra, Tomislav Horvat, Robin Thandiackal, Konstantinos Karakasiliotis, Laura Deanne Fleury

Search and rescue (SAR) missions are being carried out by several types of robots. They include ground, marine and air vehicles depending on the terrain and mission to be tackled. A particular niche for SAR activities are shallow waters. They present high ...

IEEE2015

Experimental validation of a bio-inspired controller for dynamic walking with a humanoid robot

Auke Ijspeert, Jesse van den Kieboom, Renaud Ronsse, Nicolas Benoît Dominique Van der Noot, Luca Colasanto, Allan Barrea

Bipedal walking with humanoid robots requires efficient real-time control. Nowadays, most bipedal robots require to ensure local stability at every instant in time, preventing them from achieving the impressive human walking skills. At the same time, bio-i ...

IEEE2015

A bioinspired multi-modal flying and walking robot

Dario Floreano, Stefano Mintchev, Ludovic Daler

With the aim to extend the versatility and adaptability of robots in complex environments, a novel multi-modal flying and walking robot is presented. The robot consists of a flying wing with adaptive morphology that can perform both long distance flight an ...

Iop Publishing Ltd2015

Pattern Generation for Rough Terrain Locomotion with Quadrupedal Robots

Mostafa Ajallooeian

Animals are able to locomote on rough terrain without any apparent difficulty, but this does not mean that the locomotor system is simple. The locomotor system is actually a complex multi-input multi-output closed-loop control system. This thesis is dedica ...

EPFL2015

Evaluating direct transcription and nonlinear optimization methods for robot motion planning

Jonas Buchli, Alexander Winkler

This paper studies existing direct transcription methods for trajectory optimization for robot motion planning. These methods have demonstrated to be favorable for planning dynamically feasible motions for high dimensional robots with complex dynamics. How ...

2015

Bio-inspired walking for humanoid robots using feet with human-like compliance and neuromuscular control

Auke Ijspeert, Nicolas Benoît Dominique Van der Noot, Luca Colasanto

The human foot plays a key role in human walking providing, among others, body support and propulsion, stability of the movement and impact absorption. These fundamental functionalities are accomplished by an extraordinarily rich bio-mechanical design. Non ...

IEEE2015

Towards Automatic Discovery of Agile Gaits for Quadrupedal Robots

Roland Siegwart, Marco Hutter

Developing control methods that allow legged robots to move with skill and agility remains one of the grand challenges in robotics. In order to achieve this ambitious goal, legged robots must possess a wide repertoire of motor skills. A scalable control ar ...

2014

Concurrent Optimization of Mechanical Design and Locomotion Control of a Legged Robot

Roland Siegwart

This paper introduces a method to simultaneously optimize design and control parameters for legged robots to improve the performance of locomotion based tasks. The morphology of a quadrupedal robot was optimized for a trotting and bounding gait to achieve ...

2014

An Evaluation of Moreau’s time-stepping scheme for the simulation of a legged robot

Roland Siegwart

A state-of-the-art simulation technique that solves the equations of motion together with the set-valued contact and impulse laws by the time-stepping scheme of Moreau is introduced to the legged robotics community. An analysis is given that shows which of ...

2014

Robust Walking Using Peicewise Linear Spring

Auke Ijspeert, Mahdi Khoramshahi

Having a direct impact on the energy efficiency has made the compliance a favorable element in the robotic systems. Moreover, legged system can benefit from compliance for stability, speed, adaptability and robustness. Recently, we have studied the effects ...

2014

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