Browsing by Keywords "Legged robots"
Now showing items 1-17 of 17
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Control of underactuated planar pronking through an embedded spring-mass Hopper template
(2011)Autonomous use of legged robots in unstructured, outdoor settings requires dynamically dexterous behaviors to achieve sufficient speed and agility without overly complex and fragile mechanics and actuation. Among such ... -
Design and operation of MinIAQ: an untethered foldable miniature quadruped with individually actuated legs
(IEEE, 2017)This paper presents the design, development, and basic operation of MinIAQ, an origami-inspired, foldable, untethered, miniature quadruped robot. Instead of employing multilayer composite structures similar to most ... -
Design, fabrication, and locomotion analysis of an untethered miniature soft quadruped, SQuad
(IEEE, 2020)The conventional robotics, which involves utilization of robots made out of hard materials like metals and hard plastics, has helped humankind automate many different sorts of labor and such robots have been assisting the ... -
Design, fabrication, and locomotion analysis of an untethered, miniature, legged, compressible, soft robot: CSQUAD
(Bilkent University, 2021-09)Conventional robotics has been effective for industrial applications such as fast, precise and accurate production or for sophisticatedly controlled systems for the last couple of centuries. However, as the robots become ... -
Dynamic modeling and gait analysis for miniature robots in the absence of foot placement control
(Institute of Electrical and Electronics Engineers Inc., 2019)The study of animals and insects have led to realization that animals select their gaits, patterns of leg movement, according to speed. For proper gait planning, the legs must be controlled for proper foot placement with ... -
The effect of large deflections of joints on foldable miniature robot dynamics
(Springer, 2020)In miniature robotics applications, compliant mechanisms are widely used because of their scalability. In addition, compliant mechanism architecture is compatible with the manufacturing methods used to fabricate small scale ... -
A framework for dynamic modeling of legged modular miniature robots with soft backbones
(Elsevier, 2021-06-29)In this work, the dynamics of ”n” legged modular miniature robots with a soft body is modeled. The dynamic formulation is obtained using Newton–Euler formulation that depends on the contact parameters and the feet closed-chain ... -
Gait and locomotion analysis of a soft-hybrid multilegged modular miniature robot
(Institute of Physics Publishing Ltd., 2021-09-28)The locomotion performance of the current legged miniature robots remains inferior compared to even the most simple insects. The inferiority has led researchers to utilize biological principles and control in their designs, ... -
Joint design and fabrication for multi-material soft/hybrid robots
(IEEE, 2019-04)The premises of safer interactions with surroundings and the higher adaptability to its environment make soft robotics a very interesting research field. Some robots try to achieve these feats using soft materials in their ... -
MinIAQ-II: a miniature foldable quadruped with an improved leg mechanism
(IEEE, 2018)Origami has long been renowned as a simple yet creative form of art and its folding techniques have recently inspired advances in design and fabrication of miniature robots. In this work, we present the design and fabrication ... -
Miniature modular legged robot with compliant backbones
(IEEE, 2020)Soft Modular Legged Robot (SMoLBot) is a miniature, foldable, modular, soft-hybrid legged robot with compliant backbones. SMoLBot's body and locomotion mechanisms are folded out of acetate sheets and its compliant connection ... -
Neural network based estimator and controller for SLIP and TD-SLIP monopod robots
(Bilkent University, 2020-12)Using spring loaded inverted pendulum models for legged locomotion, a wide range of applications can be developed for mobile robots. Spring loaded inverted pendulum model brings new challenges of solving the forward and ... -
Quadrupedal bounding with an actuated spinal joint
(IEEE, 2011)Most legged vertebrates use flexible spines and supporting muscles to provide auxiliary power and dexterity for dynamic behaviors, resulting in higher speeds and additional maneuverability during locomotion. However, most ... -
Reactive footstep planning for a planar spring mass hopper
(IEEE, 2009-10)The main driving force behind research on legged robots has always been their potential for high performance locomotion on rough terrain and the outdoors. Nevertheless, most existing control algorithms for such robots ... -
Reactive planning and control of planar spring-mass running on rough terrain
(Institute of Electrical and Electronics Engineers, 2012)An important motivation for work on legged robots has always been their potential for high-performance locomotion on rough terrain. Nevertheless, most existing control algorithms for such robots either make rigid assumptions ... -
Smooth and inclined surface locomotion and obstacle scaling of a C-legged miniature modular robot
(IEEE, 2021-07-12)This work investigates the locomotion of a modular C-legged miniature robot with soft or rigid backbones on smooth, rough, and inclined terrain. SMoLBot-C is a C-legged miniature robot with soft or rigid backbones and ... -
Theoretical and experimental analysis of a soft and miniature quadruped
(Bilkent University, 2020-11)Multi-body dynamic modeling of non-rigid and legged robots is an active research area with the goal of investigating the interaction of a robot with its environment and its resulting locomotion. The results of such studies ...
