BigDog, the Rough-Terrain Quadruped Robot

TL;DR: A LocoGear, a novel algorithm for locomotion of UAV equipped with the robotic landing gear, is proposed based on feedforward control that proves the capability of landing gear to move along the desired trajectory.

TL;DR: This paper investigates how the passive adaptability of an underactuated robot leg to uneven terrain is affected by variations in design parameters, using the joint torque coupling ratio, segment length ratio, and rest angles to determine configurations that allow for maximum terrain roughness adaptability while minimizing the transmission of disturbance forces to the body.

TL;DR: In this article, the authors present results of a flying trot, also referred to as running trot and demonstrate that active impedance alone (thus no springs in the structure) can successfully emulate passively compliant elements during highly dynamic locomotion tasks (running and hopping).

TL;DR: This study used the multitarget optimization algorithm (NSGA-II) and the optimal combination of grouser parameters was obtained and the correctness of the theoretical model and the optimization of the grouser parameter parameters was verified through prototype experiments.

TL;DR: It is found that each of the gaits that use the legs in pairs can be transformed into a common underlying gait, a virtual biped gait: a single set of control algorithms produce all three gaits, with modest parameter variations between them.

TL;DR: Measurements of running in the cat and human show that the feet and body sometimes move as predicted by the even and odd symmetry functions.

TL;DR: Different vehicle configurations as well as leg mechanisms which are already explored by researchers are reviewed and the author hopes that this will serve as a brief account of previous research efforts and help future walking robot designers to develop more sophisticated machines.