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An untethered mechanically-intelligent inchworm robot powered by a shape memory alloy oscillator

Related publications (42)

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Legged robots come in a range of sizes and capabilities. By combining these robots into heterogeneous teams, joint locomotion and perception tasks can be achieved by utilizing the diversified features of each robot. In this work we present a framework for ...

2014

Despite great efforts in designing legged robots, we are still far from the adaptivity, efficiency and robustness with which animals can move. Observations from successful biomimetic designs highlight the significant role of clever morphological design in ...

EPFL2013

Towards Dynamic Trot Gait Locomotion—Design, Control and Experiments with Cheetah-cub, a Compliant Quadruped Robot

Auke Ijspeert, Massimo Vespignani, Mostafa Ajallooeian, Alexandre Tuleu

We present robot design and results from locomotion experiments with a novel, compliant quadruped robot: Cheetah-cub. The robot's leg configuration is based on a spring-loaded, panthograph-mechanism with multiple segments. A dedicated open-loop, joint-spac ...

2013

This paper introduces a novel batch optimization based calibration framework for legged robots. Given a nondegenerate calibration dataset and considering the stochastic models of the sensors, the task is formulated as a maximum likelihood problem. In order ...

2013

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Most existing robots are designed to exploit only one single locomotion mode, such as rolling, walking, flying, swimming, or jumping, which limits their flexibility and adaptability to different environments where specific and different locomotion capabili ...

2013

We compare the effects of linear and piecewise linear compliant spines on locomotion performance of quadruped robots in terms of energy efficiency and locomotion speed through a set of simulations and experiments. We first present a simple locomotion syste ...

Elsevier2013

In this paper we propose a general control framework for ensuring stability of humanoid robots, determined through a normalized zero-moment-point (ZMP). The proposed method is based on the modified prioritized kinematic control, which allows smooth and con ...

2013

In this paper we present an approach to the problem of stabilizating the gaze of legged robots using Adaptive Frequency Oscillators to learn the frequency, phase and amplitude of the optical flow and generate compensatory commands during robot locomotion. ...

Ieee2012

Legged robot locomotion based on free vibration

Nitesh Maheshwari

Behavioral performances of our legged robots are still far behind those of biological systems. Energy efficiency and locomotion velocity of our robots, for example, are orders of magnitude lower than those of animals, and in order to fill the gap, it requi ...

2012

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This research is focusing on the implementation, testing, and analysis of quadrupedal, bio-inspired robot locomotion. Our tool of research is a light-weight, quadruped robot of the size of a house cat, both in simulation and hardware. We are currently foll ...

2012