Stability Augmentation of SLIP-like Legged Locomotion Exploiting Hip Actuation
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Legged robots have gained an increased attention these past decades since they offer a promising technology for many applications in unstructured environments where the use of wheeled robots is clearly limited. Such applications include exploration and res ...
Central Pattern Generators (CPGs) are becoming a popular model for the control of locomotion of legged robots. Biological CPGs are neural networks responsible for the generation of rhythmic movements, especially locomotion. In robotics, a systematic way of ...
: On the hardware level, we are proposing and testing a bio-inspired quadruped robot design (Oncilla robot), based on light-weight, compliant, and three-segmented legs. Our choice of placing the compliance such that it is spanning two joints enforces a non ...
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 ...
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 ...